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EKF: Increase default heading observation noise

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Improves robustness when operating in a bad magnetic field environment
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Paul Riseborough
2016-03-01 15:28:53 +11:00
parent 97df006a6a
commit 57d4064d7b
1 changed files with 1 additions and 1 deletions
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EKF/common.h
+1 -1
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@@ -183,7 +183,7 @@ struct parameters {
posNE_innov_gate = 3.0f;
vel_innov_gate = 3.0f;
mag_heading_noise = 1.7e-1f;
mag_heading_noise = 5.0e-1f;
mag_noise = 5.0e-2f;
mag_declination_deg = 0.0f;
heading_innov_gate = 3.0f;