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ekf2: fixed calculation of static pressure error

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2019-06-26 09:37:25 +02:00
committed by Daniel Agar
parent 220f5cc565
commit 1fe70b2d6a
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -2
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@@ -966,8 +966,8 @@ void Ekf2::run()
const float y_v2 = fminf(vel_body_wind(1) * vel_body_wind(1), max_airspeed_sq);
const float z_v2 = fminf(vel_body_wind(2) * vel_body_wind(2), max_airspeed_sq);
const float pstatic_err = 0.5f * airdata.rho *
(K_pstatic_coef_x * x_v2) + (K_pstatic_coef_y * y_v2) + (_param_ekf2_pcoef_z.get() * z_v2);
const float pstatic_err = 0.5f * airdata.rho * (
K_pstatic_coef_x * x_v2 + K_pstatic_coef_y * y_v2 + _param_ekf2_pcoef_z.get() * z_v2);
// correct baro measurement using pressure error estimate and assuming sea level gravity
balt_data_avg += pstatic_err / (airdata.rho * CONSTANTS_ONE_G);