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Commit e4f8eea2 authored by Lorenz Meier's avatar Lorenz Meier
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QGC: Fix excessive noise terms

parent 9ebd2baf
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Showing with 10 additions and 10 deletions
src/uas/UAS.cc
View file @ e4f8eea2
......@@ -1765,7 +1765,7 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
simulation = new QGCFlightGearLink(_vehicle, options);
}
float noise_scaler = 0.002f;
float noise_scaler = 0.0001f;
xacc_var = noise_scaler * 0.2914f;
yacc_var = noise_scaler * 0.2914f;
zacc_var = noise_scaler * 0.9577f;
......@@ -1775,10 +1775,10 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj
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 * 0.3604f;
pressure_alt_var = noise_scaler * 1.1604f;
temperature_var = noise_scaler * 2.4290f;
abs_pressure_var = noise_scaler * 0.5604f;
diff_pressure_var = noise_scaler * 0.2604f;
pressure_alt_var = noise_scaler * 0.5604f;
temperature_var = noise_scaler * 0.7290f;
// Connect Flight Gear Link
link = dynamic_cast<QGCFlightGearLink*>(simulation);
......@@ -1840,7 +1840,7 @@ void UAS::enableHilXPlane(bool enable)
}
simulation = new QGCXPlaneLink(_vehicle);
float noise_scaler = 0.0002f;
float noise_scaler = 0.0001f;
xacc_var = noise_scaler * 0.2914f;
yacc_var = noise_scaler * 0.2914f;
zacc_var = noise_scaler * 0.9577f;
......@@ -1850,10 +1850,10 @@ void UAS::enableHilXPlane(bool enable)
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 * 0.3604f;
pressure_alt_var = noise_scaler * 1.1604f;
temperature_var = noise_scaler * 2.4290f;
abs_pressure_var = noise_scaler * 0.5604f;
diff_pressure_var = noise_scaler * 0.2604f;
pressure_alt_var = noise_scaler * 0.5604f;
temperature_var = noise_scaler * 0.7290f;
}
// Connect X-Plane Link
if (enable)
......
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