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EKF: tuning update

This commit is contained in:
Paul Riseborough 2016-05-05 19:54:11 +10:00
parent f1b7e7714e
commit d9aeace6ac
1 changed files with 2 additions and 2 deletions
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4
EKF/common.h
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@ -246,12 +246,12 @@ struct parameters {
range_delay_ms = 5.0f;
// input noise
gyro_noise = 2.5e-2f;
gyro_noise = 1.5e-2f;
accel_noise = 3.5e-1f;
// process noise
gyro_bias_p_noise = 1.0e-3f;
accel_bias_p_noise = 1.0e-3f;
accel_bias_p_noise = 3.0e-3f;
mage_p_noise = 1.0e-3f;
magb_p_noise = 1.0e-4f;
wind_vel_p_noise = 1.0e-1f;