From 4742c735fec728165adb9a267b0a5bb2807008f8 Mon Sep 17 00:00:00 2001 From: Matej Petrlik Date: Fri, 19 Apr 2024 00:51:45 +0200 Subject: [PATCH] late night attempt to fix rtk issue (needs to be tested on realworld uav) --- config/public/rtk/lat_rtk.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/config/public/rtk/lat_rtk.yaml b/config/public/rtk/lat_rtk.yaml index a91132f..6c94903 100644 --- a/config/public/rtk/lat_rtk.yaml +++ b/config/public/rtk/lat_rtk.yaml @@ -45,13 +45,13 @@ mrs_uav_managers: saturate: start_enabled: true # saturate processor can start as disabled and then be enabled by a service or a trigger condition keep_enabled: true # keep enabled even after the corrections are near the value of state - min: -0.2 - max: 0.2 - limit: 1.0 + min: -0.9 + max: 0.9 + limit: 0.9 vel_hw_api: state_id: 1 # 0 - position, 1 - velocity, 2 - acceleration - noise: 0.01 # measurement noise covariance (R) + noise: 10.0 # measurement noise covariance (R) noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R) message: type: "geometry_msgs/Vector3Stamped"