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mavlink_receiver: reduce s_variance_m_s for HIL GPS message from 1 to 0.1

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1 was too high to pass the EKF2 test (EKF2_REQ_SACC which is 0.5 by default)
and thus switching into position mode in HIL was not possible.
This commit is contained in:
Beat Küng
2018-09-27 16:47:09 +02:00
committed by Daniel Agar
parent 066ca50ddf
commit 0e1e0b997d
1 changed files with 1 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2176,7 +2176,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 1.0f;
hil_gps.s_variance_m_s = 0.1f;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m