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Changed vtaspred threshold

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CarlOlsson
2016-04-04 16:27:06 +02:00
parent 3ad5b52aea
commit eee6f1048f
1 changed files with 1 additions and 1 deletions
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EKF/airspeed_fusion.cpp
+1 -1
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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); v_tas_pred = sqrtf((ve - vwe) * (ve - vwe) + (vn - vwn) * (vn - vwn) + vd * vd);
// Perform fusion of True Airspeed measurement // Perform fusion of True Airspeed measurement
if (v_tas_pred > 3.0f) { if (v_tas_pred > 1.0f) {
// Calculate the observation jacobian // Calculate the observation jacobian
// intermediate variable from algebraic optimisation // intermediate variable from algebraic optimisation
SH_TAS[0] = 1 / v_tas_pred; SH_TAS[0] = 1 / v_tas_pred;