position_estimator_inav: default parameters updated

src/modules/position_estimator_inav/position_estimator_inav_params.c

@@ -41,15 +41,15 @@
 #include "position_estimator_inav_params.h"
 
 PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f);
-PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f);
+PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
-PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 10.0f);
+PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
 PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
 PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
-PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
 PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f);
 PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
 PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);