From 71d916dbcd3abb103e9e7d8f9882223f446933bc Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 16 Jan 2023 11:40:52 -0500 Subject: [PATCH] ekf2: PreFlightChecker fix vel_ne_innov_lpf index --- src/modules/ekf2/Utility/PreFlightChecker.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/Utility/PreFlightChecker.cpp b/src/modules/ekf2/Utility/PreFlightChecker.cpp index 4a9369764d..e490018d7d 100644 --- a/src/modules/ekf2/Utility/PreFlightChecker.cpp +++ b/src/modules/ekf2/Utility/PreFlightChecker.cpp @@ -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); }