diff options
| -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(); } |