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EKF: Increase measurement error allowance for accelerometer clipping

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This commit is contained in:
Paul Riseborough
2017-04-07 16:37:27 +10:00
parent f0bbbc8dc6
commit 7b996c5972
2 changed files with 4 additions and 3 deletions
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EKF/covariance.cpp
+3 -2
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@@ -235,8 +235,9 @@ void Ekf::predictCovariance()
daxVar = dayVar = dazVar = sq(dt * gyro_noise);
float accel_noise = math::constrain(_params.accel_noise, 0.0f, 1.0f);
if (_bad_vert_accel_detected) {
// increase accelerometer process noise if bad accel data is detected
accel_noise *= BADACC_BIAS_PNOISE_MULT;
// Increase accelerometer process noise if bad accel data is detected. Measurement errors due to
// vibration induced clipping commonly reach an equivalent 0.5g offset.
accel_noise = BADACC_BIAS_PNOISE;
}
dvxVar = dvyVar = dvzVar = sq(dt * accel_noise);