EKF: Set better value for accel process noise

9 years ago · c658463567
1 changed files with 1 additions and 1 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
@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
				@@ -202,7 +202,7 @@ PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
 * @max 1.0
 * @group Position Estimator
 */
-PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
+PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.125f);

 /**
 * Gyro bias estimate process noise