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EKF: Fix bug in declination fusion indexing

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Paul Riseborough
2016-03-04 17:51:32 +11:00
parent 2108466a00
commit 1414d591ce
1 changed files with 1 additions and 1 deletions
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EKF/mag_fusion.cpp
+1 -1
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@@ -852,7 +852,7 @@ void Ekf::fuseDeclination()
float KH[_k_num_states][_k_num_states] = {};
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 16; column < 17; column++) {
for (unsigned column = 16; column <= 17; column++) {
KH[row][column] = Kfusion[row] * H_DECL[column];
}
}