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ekf rng kin: increase default gate size

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The user needs to tune the range finder noise parameters properly and we
shouldn't need such a small gate
This commit is contained in:
bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent 1fbe04986f
commit 4994649500
2 changed files with 5 additions and 3 deletions
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src/modules/ekf2/ekf2_params.c
+4 -2
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@@ -1122,12 +1122,14 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_QLTY_T, 1.0f);
*
* Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...).
*
* Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.
*
* @group EKF2
* @unit SD
* @min 0.01
* @min 0.1
* @max 5.0
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 0.2f);
PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 1.0f);
/**
* Gate size for vision velocity estimate fusion