ekf rng kin: reduce minimum rng variance

PX4 · Apr 7, 2022 · c4fb542 · c4fb542
1 parent 892a23a
commit c4fb542
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -1365,7 +1365,7 @@ float Ekf::getRngHeightVariance() const
 {
 	const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom());
 	const float var = sq(_params.range_noise) + dist_dependant_var;
-	const float var_sat = fmaxf(var, 0.01f);
+	const float var_sat = fmaxf(var, 0.001f);
 	return var_sat;
 }