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Changed fault tolerances.

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James Goppert
2013-01-13 19:51:40 -05:00
parent 0ccdbd78f6
commit 63e6ea1b95
1 changed files with 2 additions and 2 deletions
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apps/examples/kalman_demo/KalmanNav.cpp
+2 -2
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@@ -579,7 +579,7 @@ void KalmanNav::correctAtt()
// fault detection // fault detection
float beta = y.dot(S.inverse() * y); float beta = y.dot(S.inverse() * y);
if (beta > 10.0f) { if (beta > 1000.0f) {
printf("fault in attitude: beta = %8.4f\n", (double)beta); printf("fault in attitude: beta = %8.4f\n", (double)beta);
//printf("y:\n"); y.print(); //printf("y:\n"); y.print();
} }
@@ -652,7 +652,7 @@ void KalmanNav::correctPos()
// fault detetcion // fault detetcion
float beta = y.dot(S.inverse() * y); float beta = y.dot(S.inverse() * y);
if (beta > 10.0f) { if (beta > 1000.0f) {
printf("fault in gps: beta = %8.4f\n", (double)beta); printf("fault in gps: beta = %8.4f\n", (double)beta);
//printf("y:\n"); y.print(); //printf("y:\n"); y.print();
} }