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Better hardcoded constants for INS variances
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@ -498,7 +498,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
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var[0] = var[1] = 1e-4f;
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var[2] = 1e-1f;
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INSSetMagVar(var);
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var[0] = var[1] = var[2] = 1.5e-5f;
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var[0] = var[1] = var[2] = 1.5e-6f;
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INSSetAccelVar(var);
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var[0] = var[1] = var[2] = 2.0e-4f;
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INSSetGyroVar(var);
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@ -524,7 +524,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
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// Reset the INS algorithm
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INSGPSInit();
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var[0] = var[1] = var[2] = 5e-3f;
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var[0] = var[1] = 1e-4f;
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var[2] = 1e-1f;
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INSSetMagVar(var);
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var[0] = var[1] = var[2] = 1.5e-5f;
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INSSetAccelVar(var);
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