Revert GPS/Baro weight parameters to 7.0

Revert `inav_w_z_baro_p`, `inav_w_z_gps_p`, and `inav_w_z_gps_v` to the defaults from INAV 7.0. Changed in iNavFlight#9387 Altitude estimation is less accurate with the new 9387 settings.
JulianTiller · Oct 18, 2024 · 2647f21 · 2647f21
1 parent 638bc24
commit 2647f21
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -1918,7 +1918,7 @@ Weight of barometer measurements in estimated altitude and climb rate. Setting i
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.35 | 0 | 10 |
 
 ---
 
@@ -1928,7 +1928,7 @@ Weight of GPS altitude measurements in estimated altitude. Setting is used on bo
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.4 | 0 | 10 |
+| 0.2 | 0 | 10 |
 
 ---
 
@@ -1938,7 +1938,7 @@ Weight of GPS climb rate measurements in estimated climb rate. Setting is used o
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 0.8 | 0 | 10 |
+| 0.1 | 0 | 10 |
 
 ---
 

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -2339,19 +2339,19 @@ groups:
         field: w_z_baro_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.35
       - name: inav_w_z_gps_p
         description: "Weight of GPS altitude measurements in estimated altitude. Setting is used on both airplanes and multirotors."
         field: w_z_gps_p
         min: 0
         max: 10
-        default_value: 0.4
+        default_value: 0.2
       - name: inav_w_z_gps_v
         description: "Weight of GPS climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors."
         field: w_z_gps_v
         min: 0
         max: 10
-        default_value: 0.8
+        default_value: 0.1
       - name: inav_w_xy_gps_p
         description: "Weight of GPS coordinates in estimated UAV position and speed."
         default_value: 1.0