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AP_NavEKF2: Tuning update 

Slow down magnetic field learning
master
priseborough 9 years ago
parent
10470b2dc1
commit
e6592186fc
1 changed files with 8 additions and 8 deletions
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  1. 16
      libraries/AP_NavEKF2/AP_NavEKF2.cpp

16
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -25,8 +25,8 @@ @@ -25,8 +25,8 @@
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define GSCALE_P_NSE_DEFAULT 5.0E-04f
#define ABIAS_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 5.0E-04f
#define MAGE_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
#define POS_I_GATE_DEFAULT 500
#define HGT_I_GATE_DEFAULT 500
@ -50,8 +50,8 @@ @@ -50,8 +50,8 @@
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define GSCALE_P_NSE_DEFAULT 5.0E-04f
#define ABIAS_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 5.0E-04f
#define MAGE_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
#define POS_I_GATE_DEFAULT 500
#define HGT_I_GATE_DEFAULT 500
@ -75,8 +75,8 @@ @@ -75,8 +75,8 @@
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define GSCALE_P_NSE_DEFAULT 5.0E-04f
#define ABIAS_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 5.0E-04f
#define MAGE_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
#define POS_I_GATE_DEFAULT 500
#define HGT_I_GATE_DEFAULT 500
@ -100,8 +100,8 @@ @@ -100,8 +100,8 @@
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define GSCALE_P_NSE_DEFAULT 5.0E-04f
#define ABIAS_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 5.0E-04f
#define MAGE_P_NSE_DEFAULT 5.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
#define POS_I_GATE_DEFAULT 500
#define HGT_I_GATE_DEFAULT 500

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