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ekf2: fix sideslip fusion sign

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bresch
2022-10-12 16:05:49 +02:00
committed by Mathieu Bresciani
parent 53865118fb
commit bdd043f27f
2 changed files with 3 additions and 3 deletions
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src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
+1 -1
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@@ -126,7 +126,7 @@ def compute_sideslip_innov_and_innov_var(
sideslip_pred = predict_sideslip(state, epsilon);
innov = 0.0 - sideslip_pred
innov = sideslip_pred - 0.0
H = sf.V1(sideslip_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]