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Fix typo

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kamilritz 2020-06-21 13:17:47 +02:00 committed by Mathieu Bresciani
parent a3706fdcef
commit afd4f3f86b
1 changed files with 1 additions and 1 deletions
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EKF/mag_fusion.cpp
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@ -831,7 +831,7 @@ void Ekf::fuseHeading()
// conditioned covariance matrix developing over time. // conditioned covariance matrix developing over time.
if (!_control_status.flags.vehicle_at_rest) { if (!_control_status.flags.vehicle_at_rest) {
// Vehicle is not at rest so fuse a zero innovation if necessary to prevent // Vehicle is not at rest so fuse a zero innovation if necessary to prevent
// unconstrained quaterniion variance growth and record the predicted heading // unconstrained quaternion variance growth and record the predicted heading
// to use as an observation when movement ceases. // to use as an observation when movement ceases.
// TODO a better way of determining when this is necessary // TODO a better way of determining when this is necessary
float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3); float sumQuatVar = P(0,0) + P(1,1) + P(2,2) + P(3,3);