From f971c0e617093ee7469c722166a04b06e4a00682 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 4 Oct 2024 12:51:11 -0400 Subject: [PATCH] ekf2: reduce bad acc probation time 10s->3s --- src/modules/ekf2/EKF/common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 6c1ef2d6f4..1589047e81 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -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)