fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 23:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
bresch
2024-01-18 20:39:16 -05:00
committed by Daniel Agar
parent c28972d15e
commit d624fbba07
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/gravity_fusion.cpp
+1 -1
View File
@@ -79,7 +79,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
innovation.copyTo(_aid_src_gravity.innovation); innovation.copyTo(_aid_src_gravity.innovation);
innovation_variance.copyTo(_aid_src_gravity.innovation_variance); innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
float innovation_gate = 1.f; float innovation_gate = 0.25f;
setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate); 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]; const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];