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Code Issues Releases Activity

In simulations a higher GPS noise is required for the INS

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This commit is contained in:
James Cotton 2012-03-15 04:25:09 -05:00
parent 32f76db8ae
commit 5b3cc4876e
1 changed files with 1 additions and 1 deletions
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2
flight/Modules/Attitude/revolution/attitude.c
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@ -650,7 +650,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if(gps_updated && outdoor_mode) if(gps_updated && outdoor_mode)
{ {
INSSetPosVelVar(1e-2f, 1e-2f); INSSetPosVelVar(1.0e0f, 1.0e0f);
sensors |= POS_SENSORS | HORIZ_SENSORS; sensors |= POS_SENSORS | HORIZ_SENSORS;
GPSPositionData gpsPosition; GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition); GPSPositionGet(&gpsPosition);