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EKF: update default tuning parameters

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Paul Riseborough
2016-05-05 21:23:03 +10:00
parent f01f4ae4b1
commit 799865c934
1 changed files with 4 additions and 4 deletions
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EKF/common.h
+4 -4
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@@ -246,13 +246,13 @@ struct parameters {
range_delay_ms = 5.0f;
// input noise
gyro_noise = 5.0e-2f;
gyro_noise = 2.0e-2f;
accel_noise = 2.5e-1f;
// process noise
gyro_bias_p_noise = 5.0e-5f;
gyro_bias_p_noise = 5.0e-6f;
accel_bias_p_noise = 1.0e-7f;
mage_p_noise = 2.5e-3f;
mage_p_noise = 1.0e-3f;
magb_p_noise = 1.0e-4f;
wind_vel_p_noise = 1.0e-1f;
terrain_p_noise = 5.0f;
@@ -274,7 +274,7 @@ struct parameters {
mag_declination_deg = 0.0f;
heading_innov_gate = 2.6f;
mag_innov_gate = 3.0f;
mag_declination_source = 3;
mag_declination_source = 7;
mag_fusion_type = 0;
// airspeed fusion