From c1f244a6fd803be4c6bd88072eb7b09bfd7d7d9a Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 9 Mar 2023 09:07:54 -0500 Subject: [PATCH] ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) --- src/modules/ekf2/EKF/common.h | 2 +- src/modules/ekf2/ekf2_params.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index cf822e5fa6..c75ed2dae7 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -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) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 4b5aa9c4c9..6f58740372 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -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