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INAV: Adjust vision default params

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Lorenz Meier
2014-09-01 21:04:44 +02:00
parent 8eb5aeaae3
commit 428b9612ab
2 changed files with 3 additions and 3 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
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@@ -235,8 +235,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float eph_flow = 1.0f;
float eph_vision = 0.5f;
float epv_vision = 0.5f;
float eph_vision = 0.2f;
float epv_vision = 0.2f;
float x_est_prev[2], y_est_prev[2], z_est_prev[2];
memset(x_est_prev, 0, sizeof(x_est_prev));
src/modules/position_estimator_inav/position_estimator_inav_params.c
+1 -1
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@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
/**
* XY axis weight for vision velocity