From 0a271b1982bac9ab25a79d379c508d61fa38ee41 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 26 Jun 2023 18:38:00 +0200 Subject: [PATCH] EKF2: increase default of EKF2_WIND_NSD and EKF2_TAS_GATE Increasing the wind process noise results in a more dynamic wind estimation, which is capable of catching fast-varying winds. As wind is used in the lateral guidance it's important that we don't filter it too much. Furher the gate of the airspeed fusion is increased, to reduce the likelihood of airspeed fusion stopping due to dynamic wind conditions. The airspeed is validated in the airspeed validator (EKF consumes the validated one). Signed-off-by: Silvan Fuhrer --- src/modules/ekf2/ekf2_params.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index e3d5decc1a..2c85f2aa24 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -342,7 +342,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f); * @unit m/s^2/sqrt(Hz) * @decimal 3 */ -PARAM_DEFINE_FLOAT(EKF2_WIND_NSD, 1.0e-2f); +PARAM_DEFINE_FLOAT(EKF2_WIND_NSD, 5.0e-2f); /** * Measurement noise for gps horizontal velocity. @@ -601,7 +601,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f); * @unit SD * @decimal 1 */ -PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); +PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 5.0f); /** * Will be removed after v1.14 release