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ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM

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- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
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Daniel Agar
2023-01-14 09:15:46 -05:00
committed by GitHub
parent 22f7d913bd
commit 674a59e48f
5 changed files with 19 additions and 1 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -306,7 +306,7 @@ public:
// gyro bias (states 10, 11, 12)
Vector3f getGyroBias() const { return _state.delta_ang_bias / _dt_ekf_avg; } // get the gyroscope bias in rad/s
Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / sq(_dt_ekf_avg); } // get the gyroscope bias variance in rad/s
float getGyroBiasLimit() const { return math::radians(20.f); } // 20 degrees/s
float getGyroBiasLimit() const { return _params.gyro_bias_lim; }
// accel bias (states 13, 14, 15)
Vector3f getAccelBias() const { return _state.delta_vel_bias / _dt_ekf_avg; } // get the accelerometer bias in m/s**2