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Add vision height covariance passthrough (#507)

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* Add vision height covariance passthrough

* Fix hgtErr layout
This commit is contained in:
Dion Gonano
2018-09-11 06:36:13 +10:00
committed by Paul Riseborough
parent a7245229cb
commit 2354c30d81
3 changed files with 6 additions and 3 deletions
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EKF/estimator_interface.cpp
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@@ -436,6 +436,7 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
// copy required data
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.hgtErr = evdata->hgtErr;
ev_sample_new.quat = evdata->quat;
ev_sample_new.posNED = evdata->posNED;