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ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264)

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Daniel Agar 2023-03-09 09:07:54 -05:00 committed by GitHub
parent 60b85c2e1a
commit c1f244a6fd
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2 changed files with 2 additions and 2 deletions
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2
src/modules/ekf2/EKF/common.h
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@ -355,7 +355,7 @@ struct parameters {
int32_t mag_declination_source{7}; ///< bitmask used to control the handling of declination data
int32_t mag_fusion_type{0}; ///< integer used to specify the type of magnetometer fusion used
float mag_acc_gate{0.5f}; ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2)
float mag_yaw_rate_gate{0.25f}; ///< yaw rate threshold used by mode select logic (rad/sec)
float mag_yaw_rate_gate{0.20f}; ///< yaw rate threshold used by mode select logic (rad/sec)
// GNSS heading fusion
float gps_heading_noise{0.1f}; ///< measurement noise standard deviation used for GNSS heading fusion (rad)

2
src/modules/ekf2/ekf2_params.c
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@ -532,7 +532,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f);
* @unit rad/s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.20f);
/**
* Gate size for barometric and GPS height fusion