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update terrain state un fuse function

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bresch
2022-01-27 15:48:24 +01:00
parent 36fb465c5a
commit 2b7b16986d
1 changed files with 1 additions and 0 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
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@@ -998,6 +998,7 @@ void Ekf::fuse(const Vector25f &K, float innovation)
_state.mag_I -= K.slice<3, 1>(16, 0) * innovation;
_state.mag_B -= K.slice<3, 1>(19, 0) * innovation;
_state.wind_vel -= K.slice<2, 1>(22, 0) * innovation;
_state.posd_terrain -= K(24) * innovation;
}
void Ekf::uncorrelateQuatFromOtherStates()