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EKF: tighten wind variance growth check

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Paul Riseborough
2018-04-21 13:04:04 -04:00
committed by Daniel Agar
parent ae069b12d6
commit 31142c0322
1 changed files with 1 additions and 1 deletions
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EKF/covariance.cpp
+1 -1
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@@ -210,7 +210,7 @@ void Ekf::predictCovariance()
float wind_vel_sig;
// Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned
if (_control_status.flags.wind && (P[22][22] + P[23][23]) < 2.0f * sq(_params.initial_wind_uncertainty)) {
if (_control_status.flags.wind && (P[22][22] + P[23][23]) < sq(_params.initial_wind_uncertainty)) {
wind_vel_sig = dt * math::constrain(_params.wind_vel_p_noise, 0.0f, 1.0f);
} else {