From dacba5d911f7b9af05bd06bf61bca47078423d6d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 13 Mar 2014 21:57:43 +1100 Subject: [PATCH] AP_NavEKF : Update default tuning parameters (for plane use) --- libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index fcfacbf86a..519f90c823 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -31,7 +31,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = { // @Range: 0.05 - 5.0 // @Increment: 0.05 // @User: advanced - AP_GROUPINFO("VELNE_NOISE", 0, NavEKF, _gpsHorizVelNoise, 0.15f), + AP_GROUPINFO("VELNE_NOISE", 0, NavEKF, _gpsHorizVelNoise, 0.30f), // @Param: VELD_NOISE // @DisplayName: GPS vertical velocity measurement noise (m/s) @@ -103,7 +103,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = { // @Range: 0.05 - 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot // @Increment: 0.01 // @User: advanced - AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, 0.50f), + AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, 0.25f), // @Param: GBIAS_PNOISE // @DisplayName: Rate gyro bias state process noise (rad/s)