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ekf2: fix barometer kconfig

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Daniel Agar
2023-10-18 09:43:27 -04:00
parent 988705831d
commit 6eae9fb371
3 changed files with 11 additions and 0 deletions
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src/modules/ekf2/EKF/covariance.cpp
+5
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@@ -65,7 +65,12 @@ void Ekf::initialiseCovariance()
P.uncorrelateCovarianceSetVariance<State::vel.dof>(State::vel.idx, Vector3f(vel_var, vel_var, sq(1.5f) * vel_var));
// position
#if defined(CONFIG_EKF2_BAROMETER)
float z_pos_var = sq(fmaxf(_params.baro_noise, 0.01f));
#else
float z_pos_var = sq(1.f);
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_GNSS)
const float xy_pos_var = sq(fmaxf(_params.gps_pos_noise, 0.01f));