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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/EKF2.cpp
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@@ -160,6 +160,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_abl_acclim(_params->acc_bias_learn_acc_lim),
_param_ekf2_abl_gyrlim(_params->acc_bias_learn_gyr_lim),
_param_ekf2_abl_tau(_params->acc_bias_learn_tc),
_param_ekf2_gyr_b_lim(_params->gyro_bias_lim),
_param_ekf2_drag_noise(_params->drag_noise),
_param_ekf2_bcoef_x(_params->bcoef_x),
_param_ekf2_bcoef_y(_params->bcoef_y),