AP_NavEKF2: Adjust parameter defaults

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -17,67 +17,70 @@
 // copter defaults
 #define VELNE_NOISE_DEFAULT     0.5f
 #define VELD_NOISE_DEFAULT      0.7f
-#define POSNE_NOISE_DEFAULT     0.5f
-#define ALT_NOISE_DEFAULT       1.0f
+#define POSNE_NOISE_DEFAULT     1.0f
+#define ALT_NOISE_DEFAULT       1.5f
 #define MAG_NOISE_DEFAULT       0.05f
-#define GYRO_PNOISE_DEFAULT     0.01f
+#define GYRO_PNOISE_DEFAULT     0.005f
 #define ACC_PNOISE_DEFAULT      0.25f
-#define GBIAS_PNOISE_DEFAULT    1E-05f
+#define GBIAS_PNOISE_DEFAULT    5E-06f
 #define ABIAS_PNOISE_DEFAULT    0.00005f
-#define MAG_PNOISE_DEFAULT     0.0003f
+#define MAG_PNOISE_DEFAULT      0.0003f
 #define VEL_GATE_DEFAULT        5
 #define POS_GATE_DEFAULT        5
-#define HGT_GATE_DEFAULT        10
+#define HGT_GATE_DEFAULT        5
 #define MAG_GATE_DEFAULT        3
 #define MAG_CAL_DEFAULT         3
 #define GLITCH_RADIUS_DEFAULT   25
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
 #define FLOW_GATE_DEFAULT       3
+#define GSCALE_PNOISE_DEFAULT   1e-6f
 
 #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
 // rover defaults
 #define VELNE_NOISE_DEFAULT     0.5f
 #define VELD_NOISE_DEFAULT      0.7f
-#define POSNE_NOISE_DEFAULT     0.5f
-#define ALT_NOISE_DEFAULT       1.0f
+#define POSNE_NOISE_DEFAULT     1.0f
+#define ALT_NOISE_DEFAULT       1.5f
 #define MAG_NOISE_DEFAULT       0.05f
-#define GYRO_PNOISE_DEFAULT     0.01f
+#define GYRO_PNOISE_DEFAULT     0.005f
 #define ACC_PNOISE_DEFAULT      0.25f
-#define GBIAS_PNOISE_DEFAULT    8E-06f
+#define GBIAS_PNOISE_DEFAULT    5E-06f
 #define ABIAS_PNOISE_DEFAULT    0.00005f
-#define MAG_PNOISE_DEFAULT     0.0003f
+#define MAG_PNOISE_DEFAULT      0.0003f
 #define VEL_GATE_DEFAULT        5
 #define POS_GATE_DEFAULT        5
-#define HGT_GATE_DEFAULT        10
+#define HGT_GATE_DEFAULT        5
 #define MAG_GATE_DEFAULT        3
-#define MAG_CAL_DEFAULT         2
+#define MAG_CAL_DEFAULT         3
 #define GLITCH_RADIUS_DEFAULT   25
-#define FLOW_MEAS_DELAY         25
-#define FLOW_NOISE_DEFAULT      0.15f
-#define FLOW_GATE_DEFAULT       5
+#define FLOW_MEAS_DELAY         10
+#define FLOW_NOISE_DEFAULT      0.25f
+#define FLOW_GATE_DEFAULT       3
+#define GSCALE_PNOISE_DEFAULT   1e-6f
 
 #else
 // generic defaults (and for plane)
 #define VELNE_NOISE_DEFAULT     0.5f
 #define VELD_NOISE_DEFAULT      0.7f
-#define POSNE_NOISE_DEFAULT     0.5f
-#define ALT_NOISE_DEFAULT       0.5f
+#define POSNE_NOISE_DEFAULT     1.0f
+#define ALT_NOISE_DEFAULT       1.5f
 #define MAG_NOISE_DEFAULT       0.05f
-#define GYRO_PNOISE_DEFAULT     0.015f
-#define ACC_PNOISE_DEFAULT      0.5f
-#define GBIAS_PNOISE_DEFAULT    8E-06f
+#define GYRO_PNOISE_DEFAULT     0.005f
+#define ACC_PNOISE_DEFAULT      0.25f
+#define GBIAS_PNOISE_DEFAULT    5E-06f
 #define ABIAS_PNOISE_DEFAULT    0.00005f
-#define MAG_PNOISE_DEFAULT     0.0003f
-#define VEL_GATE_DEFAULT        6
-#define POS_GATE_DEFAULT        30
-#define HGT_GATE_DEFAULT        20
+#define MAG_PNOISE_DEFAULT      0.0003f
+#define VEL_GATE_DEFAULT        5
+#define POS_GATE_DEFAULT        5
+#define HGT_GATE_DEFAULT        5
 #define MAG_GATE_DEFAULT        3
-#define MAG_CAL_DEFAULT         0
+#define MAG_CAL_DEFAULT         3
 #define GLITCH_RADIUS_DEFAULT   25
-#define FLOW_MEAS_DELAY         25
-#define FLOW_NOISE_DEFAULT      0.3f
+#define FLOW_MEAS_DELAY         10
+#define FLOW_NOISE_DEFAULT      0.25f
 #define FLOW_GATE_DEFAULT       3
+#define GSCALE_PNOISE_DEFAULT   1e-6f
 
 #endif // APM_BUILD_DIRECTORY
 
@@ -327,7 +330,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] PROGMEM = {
     // @Range: 0.0000001 0.00001
     // @User: Advanced
     // @Units: 1/s
-    AP_GROUPINFO("GSCL_PNOISE", 27, NavEKF2, _gyroScaleProcessNoise, 1e-6f),
+    AP_GROUPINFO("GSCL_PNOISE", 27, NavEKF2, _gyroScaleProcessNoise, GSCALE_PNOISE_DEFAULT),
 
     // @Param: ABIAS_PNOISE
     // @DisplayName: Accelerometer bias process noise (m/s^2)