Fix bug in GPS weight for vertical velocity calculation #6603
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@digitalentity WDYT? |
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Good catch! |
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DzikuVx
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Feb 23, 2021
Fix bug in GPS weight for vertical velocity calculation
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If I understand correctly,
posEstimator.gps.vel.zandposEstimator.est.vel.zare both in cm/s. But that means thatbellCurve()leaves very little weight on the GPS velocity whencurveWidthis 2.5, even for very small errors (for example, 37% for 10cm/s error). I think this is a mistake and it should be 250.