From d624fbba072d5e5a247dc3e1ef3bf6f3814daf60 Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 18 Jan 2024 15:58:25 +0100 Subject: [PATCH] ekf2-grav: lower gate to reject real acceleration more effectively --- src/modules/ekf2/EKF/gravity_fusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp index 2c30d9be7c..ccccbd451f 100644 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ b/src/modules/ekf2/EKF/gravity_fusion.cpp @@ -79,7 +79,7 @@ void Ekf::controlGravityFusion(const imuSample &imu) innovation.copyTo(_aid_src_gravity.innovation); innovation_variance.copyTo(_aid_src_gravity.innovation_variance); - float innovation_gate = 1.f; + float innovation_gate = 0.25f; setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate); const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];