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Significantly lower some EKF variance settings to improve stability and
tracking accuracy.
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parent
fa1a92ed06
commit
398a546cac
@ -24,8 +24,8 @@
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</field>
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<field name="Q" units="1^2" type="float" defaultvalue="
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0.01, 0.01, 0.01,
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0.1, 0.1, 0.1,
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0.0000001, 0.0000001, 0.0000001">
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0.01, 0.01, 0.01,
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0.000001, 0.000001, 0.000001">
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<elementnames>
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<elementname>GyroX</elementname>
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<elementname>GyroY</elementname>
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@ -39,10 +39,10 @@
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</elementnames>
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</field>
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<field name="R" units="1^2" type="float" defaultvalue="
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10, 10, 1000,
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1, 1, 1,
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5000, 5000, 5000,
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1">
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1, 1, 1000000,
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0.001, 0.001, 0.001,
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10, 10, 10,
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0.01">
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<elementnames>
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<elementname>GPSPosNorth</elementname>
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<elementname>GPSPosEast</elementname>
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