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Better comments in estimator

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Lorenz Meier
2014-06-27 13:29:04 +02:00
parent 7f41ec52f1
commit 615277d346
1 changed files with 2 additions and 0 deletions
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src/modules/ekf_att_pos_estimator/estimator_23states.cpp
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@@ -2390,6 +2390,8 @@ int AttPosEKF::CheckAndBound()
ret = 5; ret = 5;
} }
// The excessive covariance detection already
// reset the filter. Just need to report here.
if (current_ekf_state.covariancesExcessive) { if (current_ekf_state.covariancesExcessive) {
FillErrorReport(&last_ekf_error); FillErrorReport(&last_ekf_error);
current_ekf_state.covariancesExcessive = false; current_ekf_state.covariancesExcessive = false;