rc.fw_defaults: reduce EPH/EPV failsafe values from 5x to 3x MC #12434
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We have seen multiple cases where the EKF2 maintains valid position estimate in loss of GPS situations even when the actual position has drifted 100’s of meters off. Overall it seems EKF2 EPH, EPV, and EVH can sometimes be very optimistic. Sometimes it seems fairly reasonable. With this in mind I support reducing these defaults. |
Antiheavy
approved these changes
Jul 8, 2019
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