Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-05 22:24:47 +08:00
Code Issues Actions 32 Packages Projects Releases Wiki Activity

commander: update EKF accel & gyro bias arming limits

Browse Source 
- these should have been rescaled when the ecl/EKF filter update period changed from 8 ms -> 10 ms
This commit is contained in:
Daniel Agar
2020-05-07 01:21:47 -04:00
committed by GitHub
parent fa64c3862d
commit 41660c3550
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander_params.c
+3 -3
View File
@@ -569,7 +569,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 0.0022f);
/**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming
@@ -578,10 +578,10 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
* @unit rad
* @min 0.0001
* @max 0.0017
* @decimal 5
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 0.0011f);
/**
* Maximum accelerometer inconsistency between IMU units that will allow arming