From fce25e6a071d2d54ca4dfac43624d988c31c982e Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 11 May 2023 15:08:30 +0200 Subject: [PATCH] FW Position Controller: increase default of FW_T_SPD_DEV_STD to 0.2 We currently fuse 0 as airspeed rate measurement, and thus simply low-pass filter the airspeed measurements. Testing has shown that the current default on the airspeed rate measurement noise is set to low, and thus the airspeed mesurement is filtered too much. Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/fw_path_navigation_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control/fw_path_navigation_params.c b/src/modules/fw_pos_control/fw_path_navigation_params.c index 48fea5fe69..feb955ba7c 100644 --- a/src/modules/fw_pos_control/fw_path_navigation_params.c +++ b/src/modules/fw_pos_control/fw_path_navigation_params.c @@ -603,7 +603,7 @@ PARAM_DEFINE_FLOAT(FW_T_SPD_STD, 0.2f); * @increment 0.1 * @group FW TECS */ -PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.05f); +PARAM_DEFINE_FLOAT(FW_T_SPD_DEV_STD, 0.2f); /** * Process noise standard deviation for the airspeed rate in the airspeed filter.