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EKF: fix compile error

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Paul Riseborough
2017-03-14 22:23:21 +11:00
committed by Lorenz Meier
parent f7cae7f3ab
commit 21e7734149
1 changed files with 1 additions and 1 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -797,7 +797,7 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv, bool *dead_reckon
// The reason is that complete rejection of measurements is often be casued by heading misalignment or inertial sensing errors
// and using state variances for accuracy reporting provides an overly optimistic assessment in these situations
float vel_err_alt = 0.0f;
if (dead_reckoning) {
if (is_dead_reckoning) {
if (_control_status.flags.opt_flow) {
float gndclearance = math::max(_params.rng_gnd_clearance, 0.1f);
vel_err_alt = math::max((_terrain_vpos - _state.pos(2)), gndclearance) * sqrtf(_flow_innov[0]*_flow_innov[0] + _flow_innov[1]*_flow_innov[1]);