ekf2: decrease default GPS horizontal velocity noise

5 years ago · 11585dfb67
1 changed files with 1 additions and 1 deletions
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 1.0e-1f);
				@@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 1.0e-1f);
 * @unit m/s
 * @decimal 2
 */
-PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.3f);

 /**
 * Measurement noise for gps position.