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Support full vision variance

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kamilritz
2020-01-08 14:36:03 +01:00
committed by Mathieu Bresciani
parent 4ab3dd50c9
commit 07e8e88e88
5 changed files with 28 additions and 25 deletions
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EKF/mag_fusion.cpp
+1 -1
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@@ -626,7 +626,7 @@ void Ekf::fuseHeading()
} else if (_control_status.flags.ev_yaw) {
// using error estimate from external vision data
R_YAW = sq(fmaxf(_ev_sample_delayed.angErr, 1.0e-2f));
R_YAW = fmaxf(_ev_sample_delayed.angVar, sq(1.0e-2f));
} else {
// default value