fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-02 06:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix small typo on PX4_ISFINITE covariance verification

Browse Source
This commit is contained in:
TSC21
2018-09-14 12:33:15 +01:00
committed by Lorenz Meier
parent 095cdeb4b0
commit 9566804f8c
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_main.cpp
+2 -2
View File
@@ -1172,7 +1172,7 @@ void Ekf2::run()
ev_data.posNED(2) = ev_odom.z;
// position measurement error from parameters
if (PX4_ISFINITE(ev_odom.COVARIANCE_MATRIX_X_VARIANCE)) {
if (PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
ev_data.posErr = fmaxf(_ev_pos_noise.get(), sqrtf(fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE],
ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])));
ev_data.hgtErr = fmaxf(_ev_pos_noise.get(), sqrtf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])));
@@ -1187,7 +1187,7 @@ void Ekf2::run()
ev_data.quat = matrix::Quatf(ev_odom.q);
// orientation measurement error from parameters
if (PX4_ISFINITE(ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE)) {
if (PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE])) {
ev_data.angErr = fmaxf(_ev_ang_noise.get(),
sqrtf(fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_PITCH_VARIANCE],