From 37cafe7dcd96b3d330742c3782a2e74399f5751b Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 7 Apr 2022 14:13:07 +0200 Subject: [PATCH] ekf rng kin: reduce minimum rng variance --- src/modules/ekf2/EKF/ekf_helper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 2725d72b31..e16f66551d 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1365,7 +1365,7 @@ float Ekf::getRngHeightVariance() const { const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); const float var = sq(_params.range_noise) + dist_dependant_var; - const float var_sat = fmaxf(var, 0.01f); + const float var_sat = fmaxf(var, 0.001f); return var_sat; }