From 2dd864a87ac00fa214ef8e26aa22be78e4d181bf Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 22 Sep 2025 18:22:14 -0800 Subject: [PATCH] update comment --- src/modules/ekf2/EKF/terrain_control.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/ekf2/EKF/terrain_control.cpp b/src/modules/ekf2/EKF/terrain_control.cpp index 747686febd..7b5dda7bbc 100644 --- a/src/modules/ekf2/EKF/terrain_control.cpp +++ b/src/modules/ekf2/EKF/terrain_control.cpp @@ -45,8 +45,7 @@ void Ekf::initTerrain() // assume a ground clearance _state.terrain = -_gpos.altitude() + _params.ekf2_min_rng; - // use the ground clearance value as our uncertainty - // TODO: JAKE: ^ doesn't make any sense + // use the sensor noise value as our uncertainty P.uncorrelateCovarianceSetVariance(State::terrain.idx, sq(_params.ekf2_rng_noise)); }