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EKF: Scale position observation noise with GPS quality

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This allows the filter to adapt to variations in GPs quality.
The range of adjustment in observation noise is limited to the range between a lower limit set by the GPS observation noise parameter and an upper limit set by the no-aiding observation noise.
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Paul Riseborough
2016-02-25 10:16:32 +11:00
parent 5483e7a477
commit a30830a7a9
3 changed files with 7 additions and 1 deletions
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EKF/estimator_interface.cpp
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@@ -160,6 +160,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
_gps_speed_valid = gps->vel_ned_valid;
_gps_speed_accuracy = gps->sacc;
_gps_hpos_accuracy = gps->eph;
float lpos_x = 0.0f;
float lpos_y = 0.0f;