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gps_alt: do not scale up reported gps vertical accuracy

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The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
This commit is contained in:
bresch
2020-12-13 14:39:50 +11:00
committed by Paul Riseborough
parent 02369cd415
commit f7bddda3d5
1 changed files with 1 additions and 2 deletions
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EKF/ekf_helper.cpp
+1 -2
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@@ -1247,10 +1247,9 @@ void Ekf::updateBaroHgtOffset()
float Ekf::getGpsAltVar() float Ekf::getGpsAltVar()
{ {
// observation variance - receiver defined and parameter limited // observation variance - receiver defined and parameter limited
// use scaled horizontal position accuracy assuming typical ratio of VDOP/HDOP
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f); const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
const float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit); const float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
const float gps_alt_var = sq(1.5f * math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit)); const float gps_alt_var = sq(math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit));
return gps_alt_var; return gps_alt_var;
} }