Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 13:02:25 +08:00
Code Issues Actions 4 Packages Projects Releases Wiki Activity

gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc

Browse Source
This commit is contained in:
bresch
2020-12-10 12:34:31 +01:00
committed by Paul Riseborough
parent b0cf45e2d2
commit 9d22f140dd
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+3 -2
View File
@@ -1247,8 +1247,9 @@ void Ekf::updateBaroHgtOffset()
float Ekf::getGpsHeightVariance()
{
// observation variance - receiver defined and parameter limited
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
const float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
// use 1.5 as a typical ratio of vacc/hacc
const float lower_limit = fmaxf(1.5f * _params.gps_pos_noise, 0.01f);
const float upper_limit = fmaxf(1.5f * _params.pos_noaid_noise, lower_limit);
const float gps_alt_var = sq(math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit));
return gps_alt_var;
}