From 8c2a158e121e0a716a4b2d802687b0314c0217ba Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 3 Sep 2014 12:15:27 +0200 Subject: Trust the laser sensor more --- src/modules/ekf_att_pos_estimator/estimator_23states.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules') 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 } -- cgit v1.2.3