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| author | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:51:40 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-13 19:51:40 -0500 |
| commit | 63e6ea1b9505fef13b4a45f1048f727d997d27cf (patch) | |
| tree | 7ba4e1c03acc6611ef0fbeec6cc91765a09621e8 | |
| parent | 0ccdbd78f69444c3084b927f3e6fd2fe80549d28 (diff) | |
| download | px4-firmware-63e6ea1b9505fef13b4a45f1048f727d997d27cf.tar.gz px4-firmware-63e6ea1b9505fef13b4a45f1048f727d997d27cf.tar.bz2 px4-firmware-63e6ea1b9505fef13b4a45f1048f727d997d27cf.zip | |
Changed fault tolerances.
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.cpp b/apps/examples/kalman_demo/KalmanNav.cpp index 1ddc9518e..240564b56 100644 --- a/apps/examples/kalman_demo/KalmanNav.cpp +++ b/apps/examples/kalman_demo/KalmanNav.cpp @@ -579,7 +579,7 @@ void KalmanNav::correctAtt() // fault detection float beta = y.dot(S.inverse() * y); - if (beta > 10.0f) { + if (beta > 1000.0f) { printf("fault in attitude: beta = %8.4f\n", (double)beta); //printf("y:\n"); y.print(); } @@ -652,7 +652,7 @@ void KalmanNav::correctPos() // fault detetcion float beta = y.dot(S.inverse() * y); - if (beta > 10.0f) { + if (beta > 1000.0f) { printf("fault in gps: beta = %8.4f\n", (double)beta); //printf("y:\n"); y.print(); } |