From 3685ec5c975bf5a7f39f726fe07b99f1c26350f8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 12 Jun 2014 15:52:15 +0200 Subject: Loosen velocity threshold to 20 m/s to only catch the really bad instances and let the system live in peace else --- src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.cpp') diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index de3c9d60e..352d9a0ce 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2140,7 +2140,7 @@ bool AttPosEKF::VelNEDDiverged() Vector3f delta = current_vel - gps_vel; float delta_len = delta.length(); - return (delta_len > 8.0f); + return (delta_len > 20.0f); } bool AttPosEKF::FilterHealthy() -- cgit v1.2.3