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simulation/sensor_gps_sim: lower GPS velocity variance

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- for a multicopter EKF2 default required GPS speed accuracy is 0.5 m/s
This commit is contained in:
Daniel Agar
2023-07-26 12:42:18 -04:00
committed by GitHub
parent b9667e955d
commit d65ddbf810
1 changed files with 1 additions and 1 deletions
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src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
+1 -1
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@@ -132,7 +132,7 @@ void SensorGpsSim::Run()
if (_sim_gps_used.get() >= 4) { if (_sim_gps_used.get() >= 4) {
// fix // fix
sensor_gps.fix_type = 3; // 3D 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.c_variance_rad = 0.1f;
sensor_gps.eph = 0.9f; sensor_gps.eph = 0.9f;
sensor_gps.epv = 1.78f; sensor_gps.epv = 1.78f;