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EKF: Fix bug preventing wind relative dead reckoning

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Paul Riseborough
2018-04-21 13:04:04 -04:00
committed by Daniel Agar
parent 9747dc778d
commit ae069b12d6
4 changed files with 5 additions and 3 deletions
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EKF/airspeed_fusion.cpp
+1 -1
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@@ -73,7 +73,7 @@ void Ekf::fuseAirspeed()
// Perform fusion of True Airspeed measurement
if (v_tas_pred > 1.0f) {
// determine if we need the sideslip fusion to correct states other than wind
bool update_wind_only = !_is_dead_reckoning;
bool update_wind_only = !_is_wind_dead_reckoning;
// Calculate the observation jacobian
// intermediate variable from algebraic optimisation