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ekf2-grav: lower gate to reject real acceleration more effectively

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bresch
2024-01-18 15:58:25 +01:00
committed by Daniel Agar
parent c28972d15e
commit d624fbba07
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/gravity_fusion.cpp
+1 -1
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@@ -79,7 +79,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
innovation.copyTo(_aid_src_gravity.innovation);
innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
float innovation_gate = 1.f;
float innovation_gate = 0.25f;
setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate);
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];