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SIH/gps: express gps position noise in meters and reduce noise value

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Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).

The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
This commit is contained in:
Nicolas MARTIN 2021-02-03 15:22:16 +01:00 committed by Daniel Agar
parent 6cf06319d2
commit d65d06f82d
1 changed files with 3 additions and 3 deletions
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6
src/modules/sih/sih.cpp
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@ -333,9 +333,9 @@ void Sih::reconstruct_sensors_signals()
_gps_lon_noiseless = _LON0 + degrees((double)_p_I(1) / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;
_gps_alt_noiseless = _H0 - _p_I(2);
_gps_lat = _gps_lat_noiseless + (double)(generate_wgn() * 7.2e-6f); // latitude in degrees
_gps_lon = _gps_lon_noiseless + (double)(generate_wgn() * 1.75e-5f); // longitude in degrees
_gps_alt = _gps_alt_noiseless + generate_wgn() * 1.78f;
_gps_lat = _gps_lat_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
_gps_lon = _gps_lon_noiseless + degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH) / _COS_LAT0;
_gps_alt = _gps_alt_noiseless + generate_wgn() * 0.5f;
_gps_vel = _v_I + noiseGauss3f(0.06f, 0.077f, 0.158f);
}