From dce31a76a82ceffd42c510b1ae2487ae80d05110 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 6 Sep 2015 20:10:14 +0200 Subject: [PATCH] EKF: Set correct interval / update rate --- .../ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 6339be23c9..3d6c8ddd34 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -215,9 +215,9 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() : _parameter_handles{}, _ekf(nullptr), - _LP_att_P(100.0f, 10.0f), - _LP_att_Q(100.0f, 10.0f), - _LP_att_R(100.0f, 10.0f) + _LP_att_P(250.0f, 20.0f), + _LP_att_Q(250.0f, 20.0f), + _LP_att_R(250.0f, 20.0f) { _voter_mag.set_timeout(200000);