From d65ddbf8108753737b3a1da192efa643ff42d788 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 Jul 2023 12:42:18 -0400 Subject: [PATCH] simulation/sensor_gps_sim: lower GPS velocity variance - for a multicopter EKF2 default required GPS speed accuracy is 0.5 m/s --- src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp index 283f71d684..5641706345 100644 --- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp +++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp @@ -132,7 +132,7 @@ void SensorGpsSim::Run() if (_sim_gps_used.get() >= 4) { // fix sensor_gps.fix_type = 3; // 3D fix - sensor_gps.s_variance_m_s = 0.5f; + sensor_gps.s_variance_m_s = 0.4f; sensor_gps.c_variance_rad = 0.1f; sensor_gps.eph = 0.9f; sensor_gps.epv = 1.78f;