forked from Archive/PX4-Autopilot
ekf2-grav: lower gate to reject real acceleration more effectively
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@ -79,7 +79,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
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innovation.copyTo(_aid_src_gravity.innovation);
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innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
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float innovation_gate = 1.f;
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float innovation_gate = 0.25f;
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setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate);
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const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
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