From cfdab732d1650e3c32ad6568f7035e22bb0e8e5e Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 15 Nov 2017 21:26:55 +1100 Subject: [PATCH] EKF: Update parameter description --- EKF/common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/common.h b/EKF/common.h index 41648831b8..9d102053bd 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -232,7 +232,7 @@ struct parameters { float gps_pos_noise{0.5f}; ///< minimum allowed observation noise for gps position fusion (m) float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m) float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m) - float baro_innov_gate{5.0f}; ///< barometric height innovation consistency gate size (STD) + float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD) float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) float hgt_reset_lim{0.0f}; ///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)