EKF: Improve recovery and reporting for badly conditioned sideslip fusion

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Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.

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This commit is contained in:

Paul Riseborough

2016-11-05 12:19:01 +01:00

committed by Lorenz Meier

parent 6c7703d485

commit 750a8874c1

1 changed files with 20 additions and 7 deletions

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EKF/sideslip_fusion.cpp

+20 -7

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