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Code Issues Releases Activity

Changed settings that makes updates smoother

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This commit is contained in:
James Cotton 2012-03-10 10:51:50 -06:00
parent 319b53a342
commit 3888d6ff69
2 changed files with 3 additions and 2 deletions
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2
flight/Libraries/insgps13state.c
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@ -121,7 +121,7 @@ void INSGPSInit() //pretty much just a place holder for now
R[3] = R[4] = 0.004f; // High freq GPS horizontal velocity noise variance (m/s)^2
R[5] = 100.0f; // High freq GPS vertical velocity noise variance (m/s)^2
R[6] = R[7] = R[8] = 0.005f; // magnetometer unit vector noise variance
R[9] = .005f; // High freq altimeter noise variance (m^2)
R[9] = .25f; // High freq altimeter noise variance (m^2)
}
void INSResetP(float PDiag[NUMX])

3
flight/Modules/Attitude/revolution/attitude.c
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@ -650,11 +650,12 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
NEDPositionSet(&nedPos);
} else if (!outdoor_mode) {
INSSetPosVelVar(1e-2f, 1e-2f);
INSSetPosVelVar(1e2f, 1e2f);
vel[0] = vel[1] = vel[2] = 0;
NED[0] = NED[1] = 0;
NED[2] = baroData.Altitude;
sensors |= HORIZ_SENSORS | HORIZ_POS_SENSORS;
sensors |= POS_SENSORS |VERT_SENSORS;
}
/*