From 3e09d9b678eab3e643c2489dc41ba100ba17fa42 Mon Sep 17 00:00:00 2001 From: "Daniel M. Sahu" Date: Wed, 1 Feb 2023 10:08:15 -0500 Subject: [PATCH] EKF2: Bug fixes. Signed-off-by: Daniel M. Sahu --- src/modules/ekf2/CMakeLists.txt | 1 + src/modules/ekf2/EKF/gravity_fusion.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index e8e6d16f31..53690c7d2e 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -102,6 +102,7 @@ px4_add_module( EKF/gps_checks.cpp EKF/gps_control.cpp EKF/gps_yaw_fusion.cpp + EKF/gravity_fusion.cpp EKF/height_control.cpp EKF/imu_down_sampler.cpp EKF/mag_control.cpp diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp index 52d5db5be3..10ed0152f7 100644 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ b/src/modules/ekf2/EKF/gravity_fusion.cpp @@ -56,7 +56,7 @@ void Ekf::fuseGravity() Vector3f innovation_variance; // calculate kalman gains and innovation variances - sym::ComputyGravityInnovVarAndKAndH( + sym::ComputeGravityInnovVarAndKAndH( getStateAtFusionHorizonAsVector(), P, measurement, acc_measurement_noise, FLT_EPSILON, &_gravity_innov, &innovation_variance, &Kx, &Ky, &Kz);