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EKF - detect and fix badly conditioned accel bias covariance values.

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Paul Riseborough
2017-03-10 10:14:06 +01:00
committed by Lorenz Meier
parent cf31945038
commit 8511754094
3 changed files with 34 additions and 2 deletions
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EKF/ekf.cpp
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@@ -85,6 +85,7 @@ Ekf::Ekf():
_time_last_beta_fuse(0),
_last_disarmed_posD(0.0f),
_last_dt_overrun(0.0f),
_time_acc_bias_check(0.0f),
_airspeed_innov(0.0f),
_airspeed_innov_var(0.0f),
_beta_innov(0.0f),