fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-20 02:09:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: fix comment typo

Browse Source
This commit is contained in:
CarlOlsson 2019-01-10 14:44:27 +01:00 committed by Paul Riseborough
parent 472f2286b7
commit 8a813c57ec
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/mag_fusion.cpp
View File

@ -646,7 +646,7 @@ void Ekf::fuseHeading()
// wrap the innovation to the interval between +-pi
_heading_innov = wrap_pi(_heading_innov);
// Calculate innovation variance and Kalman gains, taking advantage of the fact that only the first 3 elements in H are non zero
// Calculate innovation variance and Kalman gains, taking advantage of the fact that only the first 4 elements in H are non zero
// calculate the innovaton variance
float PH[4];
_heading_innov_var = R_YAW;