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EKF: Use more conservative value for delta velocity bias process noise

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Smaller values have resulted in bias estimation divergence under some conditions
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Paul Riseborough 2020-01-30 17:29:13 +11:00 committed by Lorenz Meier
parent 21054a4236
commit a3347b7e06
1 changed files with 1 additions and 1 deletions
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EKF/common.h
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@ -223,7 +223,7 @@ struct parameters {
// process noise
float gyro_bias_p_noise{1.0e-3f}; ///< process noise for IMU rate gyro bias prediction (rad/sec**2)
float accel_bias_p_noise{6.0e-3f}; ///< process noise for IMU accelerometer bias prediction (m/sec**3)
float accel_bias_p_noise{1.0e-2f}; ///< process noise for IMU accelerometer bias prediction (m/sec**3)
float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec)
float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec)
float wind_vel_p_noise{1.0e-1f}; ///< process noise for wind velocity prediction (m/sec**2)