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ekf2: don't use Vectors for height innovations (baro, rng, etc)

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Daniel Agar
2022-01-03 09:20:20 -05:00
parent eac92ec671
commit 35502c249d
6 changed files with 69 additions and 69 deletions
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src/modules/ekf2/EKF/covariance.cpp
+2 -2
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@@ -993,8 +993,8 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
&& ((down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel))
&& ((down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
|| (down_dvel_bias * _baro_hgt_innov(2) < 0.0f && _control_status.flags.baro_hgt)
|| (down_dvel_bias * _rng_hgt_innov(2) < 0.0f && _control_status.flags.rng_hgt)
|| (down_dvel_bias * _baro_hgt_innov < 0.0f && _control_status.flags.baro_hgt)
|| (down_dvel_bias * _rng_hgt_innov < 0.0f && _control_status.flags.rng_hgt)
|| (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt)));
// record the pass/fail