forked from Archive/PX4-Autopilot
Hotfix: Reduce mag influence on att estimate
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@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
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PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
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/* gyro measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
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PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
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PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
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/* accelerometer measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
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PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
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/* accel measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
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/* mag measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
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/* offset estimation - UNUSED */
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PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
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/* offsets in roll, pitch and yaw of sensor plane and body */
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PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
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