From 514c34906086a3578ca44ac39cfc769acb8a1e7d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 28 Apr 2015 10:58:46 +1000 Subject: [PATCH] AP_NavEKF: raise DCM error_rp threshold to 0.05 it was failing on many boards with fixed wing --- libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 26ac5d8dca..1687f0e992 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -532,7 +532,7 @@ bool NavEKF::InitialiseFilterDynamic(void) } // If the DCM solution has not converged, then don't initialise - if (_ahrs->get_error_rp() > 0.02f) { + if (_ahrs->get_error_rp() > 0.05f) { return false; }