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Changed vtaspred threshold

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This commit is contained in:
CarlOlsson 2016-04-03 20:08:51 +02:00
parent 3ad5b52aea
commit eee6f1048f
1 changed files with 1 additions and 1 deletions
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2
EKF/airspeed_fusion.cpp
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@ -70,7 +70,7 @@ void Ekf::fuseAirspeed()
v_tas_pred = sqrtf((ve - vwe) * (ve - vwe) + (vn - vwn) * (vn - vwn) + vd * vd);
// Perform fusion of True Airspeed measurement
if (v_tas_pred > 3.0f) {
if (v_tas_pred > 1.0f) {
// Calculate the observation jacobian
// intermediate variable from algebraic optimisation
SH_TAS[0] = 1 / v_tas_pred;