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EKF3: initialise default value for EV fusion gate

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Paul Riseborough
2017-01-15 10:02:31 +01:00
committed by Lorenz Meier
parent 9ddcba3ed0
commit 3b61528f0f
1 changed files with 3 additions and 0 deletions
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EKF/common.h
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@@ -338,6 +338,9 @@ struct parameters {
range_innov_gate = 5.0f; range_innov_gate = 5.0f;
rng_gnd_clearance = 0.1f; rng_gnd_clearance = 0.1f;
// vision position fusion
ev_innov_gate = 5.0f;
// optical flow fusion // optical flow fusion
flow_noise = 0.15f; flow_noise = 0.15f;
flow_noise_qual_min = 0.5f; flow_noise_qual_min = 0.5f;