increase EKF2_RNG_FOG for FW and VTOL

PX4 · Jan 20, 2025 · 7a9608e · 7a9608e
1 parent 4a5aa1e
commit 7a9608e
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
 param set-default GPS_UBX_DYNMODEL 6
+
+# lower RNG_FOG since MC are expected to fly closer over obstacles
+param set-default EKF2_RNG_FOG 1.0
diff --git a/src/modules/ekf2/params_range_finder.yaml b/src/modules/ekf2/params_range_finder.yaml
@@ -158,7 +158,7 @@ parameters:
           If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the
           measurement may gets rejected. 0 - disabled
       type: float
-      default: 1.0
+      default: 3.0
       min: 0.0
       max: 20.0
       unit: m