AP_NavEKF3: Update default plane optical flow param values

Reduce time required to form estimate of terrain offset
6 years ago · d3e9281846
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@ -81,8 +81,8 @@
 #define MAG_CAL_DEFAULT         0
 #define GLITCH_RADIUS_DEFAULT   25
 #define FLOW_MEAS_DELAY         10
-#define FLOW_M_NSE_DEFAULT      0.25f
+#define FLOW_M_NSE_DEFAULT      0.15f
-#define FLOW_I_GATE_DEFAULT     300
+#define FLOW_I_GATE_DEFAULT     500
 #define CHECK_SCALER_DEFAULT    100
 #define FLOW_USE_MASK_DEFAULT   2