dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ekf2-grav: lower gate to reject real acceleration more effectively

This commit is contained in:
bresch 2024-01-18 15:58:25 +01:00 committed by Daniel Agar
parent c28972d15e
commit d624fbba07
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF/gravity_fusion.cpp
View File

@ -79,7 +79,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
innovation.copyTo(_aid_src_gravity.innovation); innovation.copyTo(_aid_src_gravity.innovation);
innovation_variance.copyTo(_aid_src_gravity.innovation_variance); innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
float innovation_gate = 1.f; float innovation_gate = 0.25f;
setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate); 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]; const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];