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Fix ev_pos_obs_var(1) entry (#809)

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kritz
2020-05-11 10:44:05 +02:00
committed by GitHub
parent 440383f039
commit 03191847f9
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -325,7 +325,7 @@ void Ekf::controlExternalVisionFusion()
_ev_pos_innov(1) = _state.pos(1) - ev_pos_meas(1); _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(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 // check if we have been deadreckoning too long
if (isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)) { if (isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)) {