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EKF: Fix bad limit on magnetometer noise parameter

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Paul Riseborough
2016-05-02 22:59:51 +10:00
parent 7069fb7a04
commit 0d31aad33a
1 changed files with 1 additions and 1 deletions
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EKF/mag_fusion.cpp
+1 -1
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@@ -55,7 +55,7 @@ void Ekf::fuseMag()
float magD = _state.mag_I(2);
// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
float R_MAG = fmaxf(_params.mag_noise, 1.0);
float R_MAG = fmaxf(_params.mag_noise, 0.0f);
R_MAG = R_MAG * R_MAG;
// intermediate variables from algebraic optimisation