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ekf2: increase optical flow preflight check innovation limit (#20940)

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This commit is contained in:
Alex Klimaj
2023-01-15 17:52:12 -05:00
committed by GitHub
parent 6991ac014c
commit 00bfd5436a
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/Utility/PreFlightChecker.hpp
+1 -1
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@@ -184,7 +184,7 @@ private:
// Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
static constexpr float _heading_innov_test_lim = 0.52f;
// Maximum permissible flow innovation to pass pre-flight checks
static constexpr float _flow_innov_test_lim = 0.25f;
static constexpr float _flow_innov_test_lim = 0.5f;
// Preflight velocity innovation spike limit (m/sec)
static constexpr float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim;
// Preflight position innovation spike limit (m)