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EKF: increase wind process noise scaler to 0.5

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson
2019-01-23 14:28:17 +01:00
committed by Paul Riseborough
parent 32ca6f7030
commit 7845ff4360
1 changed files with 1 additions and 1 deletions
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EKF/common.h
+1 -1
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@@ -238,7 +238,7 @@ struct parameters {
float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec)
float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec)
float wind_vel_p_noise{1.0e-1f}; ///< process noise for wind velocity prediction (m/sec**2)
float wind_vel_p_noise_scaler{0.0f}; ///< scaling of wind process noise with vertical velocity
float wind_vel_p_noise_scaler{0.5f}; ///< scaling of wind process noise with vertical velocity
float terrain_p_noise{5.0f}; ///< process noise for terrain offset (m/sec)
float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m)