From 36acb906806563039d7483064ffac91ae4a57b67 Mon Sep 17 00:00:00 2001 From: James Goppert Date: Mon, 29 Aug 2016 16:08:28 -0400 Subject: [PATCH] Fix gps noise matrix for LPE. --- src/modules/local_position_estimator/sensors/gps.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp index 118cf0b46b..d1d4de3a28 100644 --- a/src/modules/local_position_estimator/sensors/gps.cpp +++ b/src/modules/local_position_estimator/sensors/gps.cpp @@ -155,7 +155,7 @@ void BlockLocalPositionEstimator::gpsCorrect() } if (gps_s_stddev > _gps_vz_stddev.get()) { - var_z = gps_s_stddev * gps_s_stddev; + var_vz = gps_s_stddev * gps_s_stddev; }