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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:45:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:45:32 +0200 |
| commit | b01673d1d8717b645747b7630382d666c6377c49 (patch) | |
| tree | 4278daafbb4c5a162fa9da68c09ee55590087596 /src/modules/att_pos_estimator_ekf/params.c | |
| parent | f42b3ecd962a355081d36a62924e8ae9ecc05639 (diff) | |
| download | px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.tar.gz px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.tar.bz2 px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.zip | |
Fixes to estimator and HIL startup script
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/params.c')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c index 4d21b342b..4af5edead 100644 --- a/src/modules/att_pos_estimator_ekf/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c @@ -36,10 +36,10 @@ /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f); PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); |