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AP_NavEKF : Reduce Z accel bias process noise to provide a more stable estimate

mission-4.1.18
priseborough 11 years ago committed by Andrew Tridgell
parent
1f8b5a6d23
commit
db043744a4
1 changed files with 3 additions and 3 deletions
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  1. 6
      libraries/AP_NavEKF/AP_NavEKF.cpp

6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -35,7 +35,7 @@ @@ -35,7 +35,7 @@
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.00015f
#define ABIAS_PNOISE_DEFAULT 0.0001f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 2
@ -56,7 +56,7 @@ @@ -56,7 +56,7 @@
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.00015f
#define ABIAS_PNOISE_DEFAULT 0.0001f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 2
@ -77,7 +77,7 @@ @@ -77,7 +77,7 @@
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.00015f
#define ABIAS_PNOISE_DEFAULT 0.0001f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 3

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