From 42523be0ebf6b8bb3312f58a8f31fdd3b97399fb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Nov 2015 17:38:27 +0100 Subject: [PATCH] EKF: Allow more delta velocity deviation before resetting --- src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 0e7b459b72..b794b9f90d 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -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;