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EKF: Enable tuning for IMU switch on bias errors

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This commit is contained in:
Paul Riseborough
2016-05-17 11:17:24 +10:00
parent 1540e937b1
commit 88860d0307
2 changed files with 10 additions and 2 deletions
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EKF/covariance.cpp
+2 -2
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@@ -80,12 +80,12 @@ void Ekf::initialiseCovariance()
}
// gyro bias
P[10][10] = sq(0.1f * dt);
P[10][10] = sq(_params.switch_on_gyro_bias * dt);
P[11][11] = P[10][10];
P[12][12] = P[10][10];
// accel bias
P[13][13] = sq(0.2f * dt);
P[13][13] = sq(_params.switch_on_accel_bias * dt);
P[14][14] = P[13][13];
P[15][15] = P[13][13];