From a9a3050682b55c0ab1997caa8884dcb1a369bc11 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Jul 2016 02:18:15 -0400 Subject: [PATCH] EKF2 HIL gps decrease s_variance_m_s 5.0 -> 1.0 (#4973) --- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 0af8bb3139..52aa816968 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1789,7 +1789,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m - hil_gps.s_variance_m_s = 5.0f; + hil_gps.s_variance_m_s = 1.0f; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m