Observation index cannot get negative.

2026-07-13 13:00:35 +08:00 · 2014-06-29 12:00:54 +02:00
parent 092ede366a
commit b64c64d5a3
1 changed files with 1 additions and 1 deletions
@@ -1088,7 +1088,7 @@ void AttPosEKF::FuseVelposNED()
                stateIndex = 4 + obsIndex;
                // Calculate the measurement innovation, using states from a
                // different time coordinate if fusing height data
-                if (obsIndex >= 0 && obsIndex <= 2)
+                if (obsIndex <= 2)
                {
                    innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex];
                }