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EKF2: reset global position using variance

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bresch
2024-12-03 13:04:25 +01:00
committed by Mathieu Bresciani
parent 6b637f82f8
commit 8626019ae0
3 changed files with 6 additions and 6 deletions
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src/modules/ekf2/test/test_EKF_flow.cpp
+1 -1
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@@ -383,7 +383,7 @@ TEST_F(EkfFlowTest, deadReckoning)
const float altitude_new = 1500.0;
const float eph = 50.f;
const float epv = 10.f;
_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new, eph, epv);
_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new, eph * eph, epv * epv);
const Vector3f lpos_after_reset = _ekf->getPosition();