This parameter is a compromise between numerical accuracy of the covariance prediction and sensor timing jitter
Further testing has shown that doing covariance prediction and sensor fusion every 10msec has no observable effect on fusion health and reduces timing hitter noise on magnetometer observations during high rate maneovures
The values chosen ensure that up to consistent 250 msec of sensor delay compensation is available for different platform types
The revised values also ensure that fusion occurs at different time to when the 10Hz magnetometer measurements are read
Provide an option to always do learning
Make field learning decision logic clearer
Change defaults so that plane learns when airborne
Change defaults so that Rover does not learn (large external magnetic interference)
Paul Riseborough
Randy Mackay
Andrew Tridgell
Paul Riseborough