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Code Issues Releases Activity

Increase gyro bias rate again

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This commit is contained in:
James Cotton 2011-09-13 08:30:50 -05:00
parent 1783817b96
commit 3b399ad44c
1 changed files with 1 additions and 1 deletions
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flight/INS/insgps13state.c
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@ -114,7 +114,7 @@ void INSGPSInit() //pretty much just a place holder for now
Q[0] = Q[1] = Q[2] = 50e-8; // gyro noise variance (rad/s)^2
Q[3] = Q[4] = Q[5] = 0.01; // accelerometer noise variance (m/s^2)^2
Q[6] = Q[7] = Q[8] = 2e-15; // gyro bias random walk variance (rad/s^2)^2
Q[6] = Q[7] = Q[8] = 2e-10; // gyro bias random walk variance (rad/s^2)^2
R[0] = R[1] = 0.004; // High freq GPS horizontal position noise variance (m^2)
R[2] = 0.036; // High freq GPS vertical position noise variance (m^2)