fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-08 15:38:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

gps_alt: reset GPS alt variance usign helper function

Browse Source
This commit is contained in:
bresch
2020-12-13 14:39:50 +11:00
committed by Paul Riseborough
parent f7bddda3d5
commit 62f2e26c49
1 changed files with 1 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/covariance.cpp
+1 -3
View File
@@ -74,9 +74,7 @@ void Ekf::initialiseCovariance()
P(9,9) = sq(fmaxf(_params.range_noise, 0.01f)); P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
} else if (_control_status.flags.gps_hgt) { } else if (_control_status.flags.gps_hgt) {
float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f); P(9,9) = getGpsAltVar();
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
P(9,9) = sq(1.5f * math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit));
} else { } else {
P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f)); P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));