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ekf2: lower fake position observation variance when at rest

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This commit is contained in:
Daniel Agar
2022-02-04 21:48:32 -05:00
parent c028b964e2
commit 6b1750d8be
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/fake_pos_control.cpp
+1 -1
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@@ -108,7 +108,7 @@ void Ekf::fuseFakePosition()
} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
// Accelerate tilt fine alignment by fusing more
// aggressively when the vehicle is at rest
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.1f);
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.01f);
} else {
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.5f);