From 7553aec3e04c6225ed9a6483d75b6e0ee82b4a85 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 23 Apr 2022 11:56:33 -0400 Subject: [PATCH] ekf2: magless mode increase yaw estimator yaw fusion rate --- src/modules/ekf2/EKF/gps_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index 26bb8d2cf0..e689235da8 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -69,7 +69,7 @@ void Ekf::controlGpsFusion() if (isYawEmergencyEstimateAvailable() && _control_status.flags.yaw_align && isTimedOut(_ekfgsf_yaw_reset_time, 1'000'000) - && isTimedOut(_time_last_heading_fuse, (uint64_t)1'000'000)) { + && isTimedOut(_time_last_heading_fuse, (uint64_t)500'000)) { float innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yawEstimator.getYaw()); float obs_var = _yawEstimator.getYawVar();