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This commit is contained in:
Jacob Dahl
2025-09-22 18:22:14 -08:00
parent 613a784ce2
commit 2dd864a87a
1 changed files with 1 additions and 2 deletions
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src/modules/ekf2/EKF/terrain_control.cpp
+1 -2
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@@ -45,8 +45,7 @@ void Ekf::initTerrain()
// assume a ground clearance // assume a ground clearance
_state.terrain = -_gpos.altitude() + _params.ekf2_min_rng; _state.terrain = -_gpos.altitude() + _params.ekf2_min_rng;
// use the ground clearance value as our uncertainty // use the sensor noise value as our uncertainty
// TODO: JAKE: ^ doesn't make any sense
P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_rng_noise)); P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, sq(_params.ekf2_rng_noise));
} }