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Code Issues Releases Activity

Significantly lower some EKF variance settings to improve stability and

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tracking accuracy.
This commit is contained in:
Werner Backes 2014-08-28 11:14:43 +02:00
parent fa1a92ed06
commit 398a546cac
1 changed files with 6 additions and 6 deletions
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12
shared/uavobjectdefinition/ekfconfiguration.xml
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@ -24,8 +24,8 @@
</field>
<field name="Q" units="1^2" type="float" defaultvalue="
0.01, 0.01, 0.01,
0.1, 0.1, 0.1,
0.0000001, 0.0000001, 0.0000001">
0.01, 0.01, 0.01,
0.000001, 0.000001, 0.000001">
<elementnames>
<elementname>GyroX</elementname>
<elementname>GyroY</elementname>
@ -39,10 +39,10 @@
</elementnames>
</field>
<field name="R" units="1^2" type="float" defaultvalue="
10, 10, 1000,
1, 1, 1,
5000, 5000, 5000,
1">
1, 1, 1000000,
0.001, 0.001, 0.001,
10, 10, 10,
0.01">
<elementnames>
<elementname>GPSPosNorth</elementname>
<elementname>GPSPosEast</elementname>