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EKF: Fix vel pos innovation logging bug

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Paul Riseborough
2017-11-24 14:25:44 +11:00
parent 882f4d44e5
commit 89be63d6c2
2 changed files with 7 additions and 6 deletions
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EKF/control.cpp
+1
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@@ -530,6 +530,7 @@ void Ekf::controlGpsFusion()
// calculate innovations
_vel_pos_innov[0] = _state.vel(0) - _gps_sample_delayed.vel(0);
_vel_pos_innov[1] = _state.vel(1) - _gps_sample_delayed.vel(1);
_vel_pos_innov[2] = _state.vel(2) - _gps_sample_delayed.vel(2);
_vel_pos_innov[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);