From 833cdc92369e4fec946bf0266e8e70f8f814807f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 4 Jun 2017 20:31:46 -0400 Subject: [PATCH] EKF2 update GPS and airspeed delay defaults (#7353) * update ecl to latest * EKF2_GPS_DELAY change default 200ms -> 110ms - 110msec is more representative of what most users are flying * EKF2_ASP_DELAY change default 200ms -> 100ms The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays. --- src/lib/ecl | 2 +- src/modules/ekf2/ekf2_params.c | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lib/ecl b/src/lib/ecl index 9dee57f9ca..d0b4f1e225 160000 --- a/src/lib/ecl +++ b/src/lib/ecl @@ -1 +1 @@ -Subproject commit 9dee57f9ca5b9665fb9fba051bb20a6a010311c0 +Subproject commit d0b4f1e225a5252d543cbc419d642277df535ee7 diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 3a34a9bb0e..b8ac0d9edf 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0); * @unit ms * @decimal 1 */ -PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200); +PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110); /** * Optical flow measurement delay relative to IMU measurements @@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5); * @unit ms * @decimal 1 */ -PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200); +PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 100); /** * Vision Position Estimator delay relative to IMU measurements