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att_pos_estimator_ekf: Update filter to new filter API

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Lorenz Meier
2014-04-21 01:20:35 +02:00
parent 14fb653d8c
commit c08544721a
1 changed files with 2 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+2 -2
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@@ -978,8 +978,8 @@ FixedwingEstimator::task_main()
// or the time limit will be exceeded at the next IMU update
if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) {
_ekf->CovariancePrediction(dt);
_ekf->summedDelAng = _ekf->summedDelAng.zero();
_ekf->summedDelVel = _ekf->summedDelVel.zero();
_ekf->summedDelAng.zero();
_ekf->summedDelVel.zero();
dt = 0.0f;
}