fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 01:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Correct vision velocity estimate correction type

Browse Source
This commit is contained in:
ggregory8
2014-07-23 15:12:26 +08:00
parent a48bede96f
commit 38d3efa985
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.c
+2 -2
View File
@@ -1016,8 +1016,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(corr_vision[1][0], dt, y_est, 0, w_xy_vision_p);
if (w_xy_vision_v > MIN_VALID_W) {
inertial_filter_correct(corr_gps[0][1], dt, x_est, 1, w_xy_vision_v);
inertial_filter_correct(corr_gps[1][1], dt, y_est, 1, w_xy_vision_v);
inertial_filter_correct(corr_vision[0][1], dt, x_est, 1, w_xy_vision_v);
inertial_filter_correct(corr_vision[1][1], dt, y_est, 1, w_xy_vision_v);
}
}