From 7845ff4360134fed89f6bab71831a359ccf7cef8 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Wed, 23 Jan 2019 14:28:17 +0100 Subject: [PATCH] EKF: increase wind process noise scaler to 0.5 Signed-off-by: CarlOlsson --- EKF/common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/common.h b/EKF/common.h index 8ff1f19e66c1..7e5a4b2fbe9e 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -238,7 +238,7 @@ struct parameters { float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec) float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec) float wind_vel_p_noise{1.0e-1f}; ///< process noise for wind velocity prediction (m/sec**2) - float wind_vel_p_noise_scaler{0.0f}; ///< scaling of wind process noise with vertical velocity + float wind_vel_p_noise_scaler{0.5f}; ///< scaling of wind process noise with vertical velocity float terrain_p_noise{5.0f}; ///< process noise for terrain offset (m/sec) float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m)