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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
This commit is contained in:
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.hpp
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@@ -598,6 +598,8 @@ private:
(ParamExtFloat<px4::params::EKF2_ABL_TAU>)
_param_ekf2_abl_tau, ///< Time constant used to inhibit IMU delta velocity bias learning (sec)
(ParamExtFloat<px4::params::EKF2_GYR_B_LIM>) _param_ekf2_gyr_b_lim, ///< Gyro bias learning limit (rad/s)
// Multi-rotor drag specific force fusion
(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
_param_ekf2_drag_noise, ///< observation noise variance for drag specific force measurements (m/sec**2)**2