diff options
| -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 } |