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EKF: use initial wind uncertainty with no airspeed sensor (#823)

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Carl Olsson
2020-05-20 08:38:58 +02:00
committed by GitHub
parent bf78044bcd
commit 7f21364844
1 changed files with 1 additions and 1 deletions
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EKF/covariance.cpp
+1 -1
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@@ -935,7 +935,7 @@ void Ekf::resetWindCovariance()
} else { } else {
// without airspeed, start with a small initial uncertainty to improve the initial estimate // without airspeed, start with a small initial uncertainty to improve the initial estimate
P.uncorrelateCovarianceSetVariance<2>(22, 1.0f); P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty);
} }
} }