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Report excessive covariances

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Lorenz Meier
2014-06-12 15:57:13 +02:00
parent 3685ec5c97
commit a419a2ebf3
1 changed files with 6 additions and 0 deletions
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src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+6
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@@ -2376,6 +2376,12 @@ int AttPosEKF::CheckAndBound()
ret = 5;
}
if (current_ekf_state.covariancesExcessive) {
FillErrorReport(&last_ekf_error);
current_ekf_state.covariancesExcessive = false;
ret = 6;
}
if (ret) {
ekfDiverged = true;
}