fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 02:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: lower fake position observation variance when at rest

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/fake_pos_control.cpp
+1 -1
View File
@@ -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);