From 1bc73784146caafd1ed373dd8f4f7b19efc32669 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 15 Mar 2018 23:09:42 -0400 Subject: [PATCH] EKF decrease synthetic sideslip interval 1s -> 150ms (#407) --- EKF/common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/common.h b/EKF/common.h index e65b89c452..5954d619b0 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -266,7 +266,7 @@ struct parameters { // synthetic sideslip fusion float beta_innov_gate{5.0f}; ///< synthetic sideslip innovation consistency gate size in standard deviation (STD) float beta_noise{0.3f}; ///< synthetic sideslip noise (rad) - float beta_avg_ft_us{1000000.0f}; ///< The average time between synthetic sideslip measurements (uSec) + float beta_avg_ft_us{150000.0f}; ///< The average time between synthetic sideslip measurements (uSec) // range finder fusion float range_noise{0.1f}; ///< observation noise for range finder measurements (m)