Merge remote-tracking branch 'upstream/master' into mtecs

11 years ago · 94770f5452
1 changed files with 2 additions and 2 deletions
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@ -226,11 +226,11 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
				@@ -226,11 +226,11 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
 * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
 * Increasing this value makes the bias estimation faster and noisier.
 *
- * @min 0.0001
+ * @min 0.00001
 * @max 0.001
 * @group Position Estimator
 */
-PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f);
+PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);

 /**
 * Magnetometer earth frame offsets process noise