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ekf2: PreFlightChecker fix vel_ne_innov_lpf index

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Daniel Agar 2023-01-16 11:40:52 -05:00
parent 6f718cd48d
commit 71d916dbcd
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/Utility/PreFlightChecker.cpp
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@ -78,7 +78,7 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1])));
Vector2f vel_ne_innov_lpf;
vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
vel_ne_innov_lpf(1) = _filter_vel_n_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
vel_ne_innov_lpf(1) = _filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
}