|
|
|
@ -80,7 +80,6 @@ public:
@@ -80,7 +80,6 @@ public:
|
|
|
|
|
|
|
|
|
|
void setHoverThrust(float hover_thrust) { _hover_thr = math::constrain(hover_thrust, 0.1f, 0.9f); } |
|
|
|
|
void setProcessNoiseStdDev(float process_noise) { _process_var = process_noise * process_noise; } |
|
|
|
|
void setMeasurementNoiseStdDev(float measurement_noise) { _acc_var = measurement_noise * measurement_noise; } |
|
|
|
|
void setMeasurementNoiseScale(float scale) { _acc_var_scale = scale * scale; } |
|
|
|
|
void setHoverThrustStdDev(float hover_thrust_noise) { _state_var = hover_thrust_noise * hover_thrust_noise; } |
|
|
|
|
void setAccelInnovGate(float gate_size) { _gate_size = gate_size; } |
|
|
|
|