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EKF: Allow more delta velocity deviation before resetting

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Lorenz Meier
2015-11-01 17:38:27 +01:00
parent eeecf01628
commit 42523be0eb
1 changed files with 1 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/estimator_22states.cpp
+1 -1
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@@ -2825,7 +2825,7 @@ bool AttPosEKF::VelNEDDiverged()
Vector3f delta = current_vel - gps_vel;
float delta_len = delta.length();
bool excessive = (delta_len > 20.0f);
bool excessive = (delta_len > 30.0f);
current_ekf_state.error |= excessive;
current_ekf_state.velOffsetExcessive = excessive;