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EKF: Fix bug in calculation of terrain estimator Kalman gain

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Paul Riseborough
2016-03-11 11:03:43 +11:00
parent cc5512905a
commit 1a2da887ab
1 changed files with 1 additions and 1 deletions
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EKF/terrain_estimator.cpp
+1 -1
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@@ -104,7 +104,7 @@ void Ekf::fuseHagl()
if (test_ratio <= 1.0f) {
// calculate the Kalman gain
float gain = obs_variance / _hagl_innov_var;
float gain = _terrain_var / _hagl_innov_var;
// correct the state
_terrain_vpos -= gain * _hagl_innov;
// correct the variance