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LPE: Avoid false positives for GPS

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Lorenz Meier
2016-09-03 12:30:42 +02:00
parent 686fd5b125
commit ea212a8ef5
1 changed files with 1 additions and 1 deletions
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2
src/modules/local_position_estimator/sensors/gps.cpp
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@@ -202,7 +202,7 @@ void BlockLocalPositionEstimator::gpsCorrect()
if (beta > BETA_TABLE[n_y_gps]) {
if (_gpsFault < FAULT_MINOR) {
if (beta > 2.0f * BETA_TABLE[n_y_gps]) {
if (beta > 3.0f * BETA_TABLE[n_y_gps]) {
mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
double(r(0)*r(0) / S_I(0, 0)), double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
double(r(3)*r(3) / S_I(3, 3)), double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));