EKF: use initial wind uncertainty with no airspeed sensor (#823)

2026-05-18 01:57:34 +08:00 · 2020-05-20 08:38:58 +02:00
parent bf78044bcd
commit 7f21364844
1 changed files with 1 additions and 1 deletions
@@ -935,7 +935,7 @@ void Ekf::resetWindCovariance()

 	} else {
 		// without airspeed, start with a small initial uncertainty to improve the initial estimate
-		P.uncorrelateCovarianceSetVariance<2>(22, 1.0f);
+		P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty);

 	}
 }