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EKF: improve covariance stability when estimating wind

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Paul Riseborough
2017-04-10 15:55:47 +10:00
committed by Lorenz Meier
parent 5cf31e439d
commit 9f48c0505b
1 changed files with 1 additions and 1 deletions
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EKF/covariance.cpp
+1 -1
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@@ -204,7 +204,7 @@ void Ekf::predictCovariance()
float wind_vel_sig;
// Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned
if (_control_status.flags.wind && (P[22][22] + P[23][23]) < 1000.0f) {
if (_control_status.flags.wind && (P[22][22] + P[23][23]) < 2.0f) {
wind_vel_sig = dt * math::constrain(_params.wind_vel_p_noise, 0.0f, 1.0f);
} else {