What kind of consequences will be caused by setting EK3_POSNE_M_NSE to 0.1? Will ekf be more prone to errors?

ArduCopter Copter 4.6
1

I use rtk and i want set EK3_POSNE_M_NSE to 0.1. What consequences will this cause? Will ekf more easily report errors?

3

@rmackay9 Can you help me with an answer Thank you

4

Hi @angel12,

I’m sure you’ve already read the parameter description but just for others reading this topic here it is again:

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

So this parameter changes how much impact the GPS’s measurements will have on the overall estimate. Making the number number will make the EKF trust the GPS measurement more and so the GPS’s reading will have a strong impact upon the horizontal position estimate. E.g. each time a new GPS sensor reading is received, the EKF will move its estimate to be closer to the GPS more aggressively.

Changing this won’t affect how “easily the EKF will report errors”. If you’re trying to get the EKF failsafe to trigger more quickly then setting the threshold lower will do that.

By the way, I’ve moved this topic to the Copter-4.6 category