diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 4fac83db2..817590bab 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters() yawVarScale = 1.0f; windVelSigma = 0.1f; - dAngBiasSigma = 5.0e-7; - dVelBiasSigma = 1e-4f; - magEarthSigma = 3.0e-4f; - magBodySigma = 3.0e-4f; + dAngBiasSigma = 1.0e-6; + dVelBiasSigma = 0.0002f; + magEarthSigma = 0.0003f; + magBodySigma = 0.0003f; vneSigma = 0.2f; vdSigma = 0.3f; |