From 03191847f9c162dedc2cb45ff775b75cbc9c8b36 Mon Sep 17 00:00:00 2001 From: kritz Date: Mon, 11 May 2020 10:44:05 +0200 Subject: [PATCH] Fix ev_pos_obs_var(1) entry (#809) --- EKF/control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index aee64d3232..377924d81b 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -325,7 +325,7 @@ void Ekf::controlExternalVisionFusion() _ev_pos_innov(1) = _state.pos(1) - ev_pos_meas(1); ev_pos_obs_var(0) = fmaxf(ev_pos_var(0, 0), sq(0.01f)); - ev_pos_obs_var(1) = fmaxf(ev_pos_var(1, 0), sq(0.01f)); + ev_pos_obs_var(1) = fmaxf(ev_pos_var(1, 1), sq(0.01f)); // check if we have been deadreckoning too long if (isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)) {