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ekf2: reduce bad acc probation time 10s->3s

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Daniel Agar
2024-10-07 10:37:33 +02:00
committed by Mathieu Bresciani
parent 9ddac762e3
commit f971c0e617
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/common.h
+1 -1
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@@ -79,7 +79,7 @@ static constexpr uint64_t MAG_MAX_INTERVAL =
// bad accelerometer detection and mitigation
static constexpr uint64_t BADACC_PROBATION =
10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
3e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
static constexpr float BADACC_BIAS_PNOISE =
4.9f; ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)