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EKF: Relax tilt alignment check

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Paul Riseborough
2016-05-04 14:46:20 +10:00
parent 5523a4f225
commit a7d08d08fc
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -53,7 +53,7 @@ void Ekf::controlFusionModes()
// Once the angular uncertainty has reduced sufficiently, initialise the yaw and magnetic field states
float total_angle_variance = P[0][0] + P[1][1] + P[2][2] + P[3][3];
if (total_angle_variance < 0.001f && !_control_status.flags.tilt_align) {
if (total_angle_variance < 0.002f && !_control_status.flags.tilt_align) {
_control_status.flags.tilt_align = true;
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}