From 0e1e0b997d85cb480594236a44f5d5a0c79460b5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 27 Sep 2018 16:47:09 +0200 Subject: [PATCH] mavlink_receiver: reduce s_variance_m_s for HIL GPS message from 1 to 0.1 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. --- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 486971c7be..d7d80f31a0 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -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