From e4f8eea278cd0fcdbf199338c2db91fb2931401e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Nov 2015 14:09:44 +0100 Subject: [PATCH] QGC: Fix excessive noise terms --- src/uas/UAS.cc | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index 8651db683..8d0ff0bd0 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -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(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) -- 2.22.0