fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 07:31:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2_derivation: fix typo

Browse Source
This commit is contained in:
bresch
2023-08-08 12:09:56 -04:00
committed by Daniel Agar
parent de702a2e63
commit b6fb95247b
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
+2 -2
View File
@@ -117,8 +117,8 @@ def predict_covariance(
var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var]) var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var])
P_new = A * P * A.T + G * var_u * G.T P_new = A * P * A.T + G * var_u * G.T
# Generate the equations for the lower triangular matrix and the diagonal only # Generate the equations for the upper triangular matrix and the diagonal only
# Since the matrix is symmetric, the upper triangle does not need to be derived # Since the matrix is symmetric, the lower triangle does not need to be derived
# and can simply be copied in the implementation # and can simply be copied in the implementation
for index in range(State.n_states): for index in range(State.n_states):
for j in range(State.n_states): for j in range(State.n_states):