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gps_alt: rename getGpsAltVar -> getGpsHeightVariance

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bresch
2020-12-10 12:33:52 +01:00
committed by Paul Riseborough
parent 62f2e26c49
commit b0cf45e2d2
4 changed files with 4 additions and 4 deletions
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EKF/control.cpp
+1 -1
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@@ -1103,7 +1103,7 @@ void Ekf::controlHeightFusion()
Vector3f gps_hgt_obs_var;
// vertical position innovation - gps measurement has opposite sign to earth z axis
_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
gps_hgt_obs_var(2) = getGpsAltVar();
gps_hgt_obs_var(2) = getGpsHeightVariance();
// innovation gate size
gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
// fuse height information