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Commit 5fe0d2c1 authored by priseborough's avatar priseborough Committed by Andrew Tridgell
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AP_NavEKF: Add protection for accel bias estimation errors

Don't do bias estimation if tilted by more than 60 degrees to prevent scale
factor errors affecting result unnecessarily.
Prevent Kalman gain from having the wrong sign due to numerical errors
associated with small process noise values.
Allow smaller Z accel bias process noise values to be set
parent 3222e8f7
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