fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 08:28:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/common.h
+1 -1
View File
@@ -79,7 +79,7 @@ static constexpr uint64_t MAG_MAX_INTERVAL =
// bad accelerometer detection and mitigation // bad accelerometer detection and mitigation
static constexpr uint64_t BADACC_PROBATION = 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 = 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) 4.9f; ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)