AP_NavEKF : Reduce GPS position innovation consistency fail threshold

This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres This will provide copters with more protection for close in loiter situations
11 years ago · 45b1a2fa46
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -193,7 +193,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
				@@ -193,7 +193,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
    // @Range: 1 - 100
    // @Increment: 1
    // @User: advanced
-    AP_GROUPINFO("POS_GATE",    18, NavEKF, _gpsPosInnovGate, 10),
+    AP_GROUPINFO("POS_GATE",    18, NavEKF, _gpsPosInnovGate, 5),

    // @Param: HGT_GATE
    // @DisplayName: Height measurement gate size