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EKF: update tuning defaults

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This commit is contained in:
Paul Riseborough 2016-05-04 14:50:39 +10:00
parent 7a74d58591
commit ecaffe63af
1 changed files with 2 additions and 2 deletions
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4
EKF/common.h
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@ -234,7 +234,7 @@ struct parameters {
parameters()
{
// measurement source control
fusion_mode = MASK_USE_GPS;
fusion_mode = MASK_USE_GPS + MASK_USE_3D_ACC_BIAS;
vdist_sensor_type = VDIST_SENSOR_BARO;
// measurement time delays
@ -251,7 +251,7 @@ struct parameters {
// process noise
gyro_bias_p_noise = 1.0e-3f;
accel_bias_p_noise = 1.0e-5f;
accel_bias_p_noise = 1.0e-3f;
mage_p_noise = 1.0e-3f;
magb_p_noise = 1.0e-4f;
wind_vel_p_noise = 1.0e-1f;