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updated calculation

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CarlOlsson
2016-04-03 21:01:29 +02:00
parent 068c29851c
commit 616725410d
1 changed files with 1 additions and 1 deletions
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EKF/airspeed_fusion.cpp
+1 -1
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@@ -73,7 +73,7 @@ void Ekf::fuseAirspeed()
if (v_tas_pred > 3.0f) {
// Calculate the observation jacobian
// intermediate variable from algebraic optimisation
SH_TAS[0] = 1 / (sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
SH_TAS[0] = 1 / v_tas_pred;
SH_TAS[1] = (SH_TAS[0] * (2 * ve - 2 * vwe)) / 2.0f;
SH_TAS[2] = (SH_TAS[0] * (2 * vn - 2 * vwn)) / 2.0f;