Loosen velocity threshold to 20 m/s to only catch the really bad instances and let the system live in peace else

11 years ago · 3685ec5c97
1 changed files with 1 additions and 1 deletions
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@ -2140,7 +2140,7 @@ bool AttPosEKF::VelNEDDiverged()
				@@ -2140,7 +2140,7 @@ bool AttPosEKF::VelNEDDiverged()
    Vector3f delta = current_vel - gps_vel;
    float delta_len = delta.length();

-    return (delta_len > 8.0f);
+    return (delta_len > 20.0f);
 }

 bool AttPosEKF::FilterHealthy()