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Pass through horizontal and vertial covariances

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Dion Gonano
2018-09-16 21:30:20 -04:00
committed by Daniel Agar
parent 8158cdfcf4
commit 7691990a50
2 changed files with 6 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -1
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@@ -1173,8 +1173,9 @@ void Ekf2::run()
ev_data.quat = q;
// position measurement error from parameters. TODO : use covariances from topic
ev_data.posErr = fmaxf(_ev_pos_noise.get(), fmaxf(ev_pos.eph, ev_pos.epv));
ev_data.posErr = fmaxf(_ev_pos_noise.get(), ev_pos.eph);
ev_data.angErr = _ev_ang_noise.get();
ev_data.hgtErr = fmaxf(_ev_pos_noise.get(), ev_pos.epv);
// only set data if all positions and velocities are valid
if (ev_pos.xy_valid && ev_pos.z_valid && ev_pos.v_xy_valid && ev_pos.v_z_valid) {