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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-03 12:15:27 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-03 12:15:27 +0200 |
| commit | 8c2a158e121e0a716a4b2d802687b0314c0217ba (patch) | |
| tree | 10eb436036997a4d77641e71d8d7137cf258b8db /src/modules/ekf_att_pos_estimator | |
| parent | 4c7cc10b6294c799798d05faad688d9dec2102f3 (diff) | |
| download | px4-firmware-8c2a158e121e0a716a4b2d802687b0314c0217ba.tar.gz px4-firmware-8c2a158e121e0a716a4b2d802687b0314c0217ba.tar.bz2 px4-firmware-8c2a158e121e0a716a4b2d802687b0314c0217ba.zip | |
Trust the laser sensor more
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index 8ba1c1573..a607955a8 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -85,7 +85,7 @@ public: R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2 flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter - rngInnovGate = 5.0f; // number of standard deviations applied to the rnage finder innovation consistency check + rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check minFlowRng = 0.01f; //minimum range between ground and flow sensor moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate } |