AP_NavEKF: Update default parameters for copter optical flow fusion

10 years ago · 9268024094
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -46,8 +46,8 @@
				@@ -46,8 +46,8 @@
 #define GLITCH_ACCEL_DEFAULT    150
 #define GLITCH_RADIUS_DEFAULT   15
 #define FLOW_MEAS_DELAY         10
-#define FLOW_NOISE_DEFAULT      0.15f
-#define FLOW_GATE_DEFAULT       5
+#define FLOW_NOISE_DEFAULT      0.25f
+#define FLOW_GATE_DEFAULT       3

 #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
 // rover defaults