From 6b1750d8be6b1269a8cc2fe392712994e3061153 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 2 Feb 2022 15:39:51 -0500 Subject: [PATCH] ekf2: lower fake position observation variance when at rest --- src/modules/ekf2/EKF/fake_pos_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp index 36106aefee..253c03b198 100644 --- a/src/modules/ekf2/EKF/fake_pos_control.cpp +++ b/src/modules/ekf2/EKF/fake_pos_control.cpp @@ -108,7 +108,7 @@ void Ekf::fuseFakePosition() } else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { // Accelerate tilt fine alignment by fusing more // aggressively when the vehicle is at rest - fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.1f); + fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.01f); } else { fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.5f);