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EKF: Use correct height gate when using external vision

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Paul Riseborough
2016-05-27 11:24:53 +10:00
parent e41524ac9d
commit 6f412a73b4
1 changed files with 1 additions and 1 deletions
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EKF/vel_pos_fusion.cpp
+1 -1
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@@ -159,7 +159,7 @@ void Ekf::fuseVelPosHeight()
R[5] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
R[5] = R[5] * R[5];
// innovation gate size
gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);
gate_size[5] = fmaxf(_params.ev_innov_gate, 1.0f);
}
}