From ea212a8ef54f57808e04ed2de97d426d8229d27d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 3 Sep 2016 12:30:42 +0200 Subject: [PATCH] LPE: Avoid false positives for GPS --- src/modules/local_position_estimator/sensors/gps.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp index d1d4de3a28..982e0e8dc5 100644 --- a/src/modules/local_position_estimator/sensors/gps.cpp +++ b/src/modules/local_position_estimator/sensors/gps.cpp @@ -202,7 +202,7 @@ void BlockLocalPositionEstimator::gpsCorrect() if (beta > BETA_TABLE[n_y_gps]) { if (_gpsFault < FAULT_MINOR) { - if (beta > 2.0f * BETA_TABLE[n_y_gps]) { + if (beta > 3.0f * BETA_TABLE[n_y_gps]) { mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g", double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)), double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));