UAS: Improve HIL inputs

src/uas/UAS.cc

@@ -1960,15 +1960,15 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
     }
 
     float noise_scaler = 0.05f;
-    xacc_var = noise_scaler * 1.2914f;
-    yacc_var = noise_scaler * 0.7048f;
-    zacc_var = noise_scaler * 1.9577f;
-    rollspeed_var = noise_scaler * 0.8126f;
-    pitchspeed_var = noise_scaler * 0.6145f;
-    yawspeed_var = noise_scaler * 0.5852f;
-    xmag_var = noise_scaler * 0.4786f;
-    ymag_var = noise_scaler * 0.4566f;
-    zmag_var = noise_scaler * 0.3333f;
+    xacc_var = noise_scaler * 0.2914f;
+    yacc_var = noise_scaler * 0.2914f;
+    zacc_var = noise_scaler * 0.9577f;
+    rollspeed_var = noise_scaler * 0.1f * 0.8126f;
+    pitchspeed_var = noise_scaler * 0.1f * 0.6145f;
+    yawspeed_var = noise_scaler * 0.1f * 0.5852f;
+    xmag_var = noise_scaler * 0.0786f;
+    ymag_var = noise_scaler * 0.0566f;
+    zmag_var = noise_scaler * 0.0333f;
     abs_pressure_var = noise_scaler * 1.1604f;
     diff_pressure_var = noise_scaler * 0.6604f;
     pressure_alt_var = noise_scaler * 1.1604f;
@@ -2034,16 +2034,16 @@ void UAS::enableHilXPlane(bool enable)
         }
         simulation = new QGCXPlaneLink(this);
 
-        float noise_scaler = 0.05f;
-        xacc_var = noise_scaler * 1.2914f;
-        yacc_var = noise_scaler * 0.7048f;
-        zacc_var = noise_scaler * 1.9577f;
-        rollspeed_var = noise_scaler * 0.8126f;
-        pitchspeed_var = noise_scaler * 0.6145f;
-        yawspeed_var = noise_scaler * 0.5852f;
-        xmag_var = noise_scaler * 0.4786f;
-        ymag_var = noise_scaler * 0.4566f;
-        zmag_var = noise_scaler * 0.3333f;
+        float noise_scaler = 0.02f;
+        xacc_var = noise_scaler * 0.2914f;
+        yacc_var = noise_scaler * 0.2914f;
+        zacc_var = noise_scaler * 0.9577f;
+        rollspeed_var = noise_scaler * 0.15f * 0.8126f;
+        pitchspeed_var = noise_scaler * 0.15f * 0.6145f;
+        yawspeed_var = noise_scaler * 0.15f * 0.5852f;
+        xmag_var = noise_scaler * 0.0786f;
+        ymag_var = noise_scaler * 0.0566f;
+        zmag_var = noise_scaler * 0.0333f;
         abs_pressure_var = noise_scaler * 1.1604f;
         diff_pressure_var = noise_scaler * 0.6604f;
         pressure_alt_var = noise_scaler * 1.1604f;