From 5512a6f8a06d50bedc5ff840bc17ca131068175d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 22 Jan 2015 11:33:09 +1100 Subject: [PATCH] SITL: lower the default noise in SITL the noise levels were well above realistic levels, especially for gyro noise, and were causing EKF issues --- libraries/SITL/SITL.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index ad3808e97b..a9b2a8ad92 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -28,10 +28,10 @@ extern const AP_HAL::HAL& hal; // table of user settable parameters const AP_Param::GroupInfo SITL::var_info[] PROGMEM = { - AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 3), - AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 30), - AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 3), - AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 10), + AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 1), + AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 5), + AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 2), + AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 5), AP_GROUPINFO("GPS_DISABLE",4, SITL, gps_disable, 0), AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed, 0.2), AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),