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added parameter mirrorinf for negative alpha

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Marvin Harms
2022-10-23 08:25:08 +02:00
parent 4e72c6313a
commit c36024e222
1 changed files with 3 additions and 2 deletions
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src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp
+3 -2
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@@ -352,13 +352,14 @@ FixedwingShearEstimator::perform_posterior_update(float height, Vector3f wind)
}
// find the correct sign of params (parametrization is not unique)
/*
if (_X_posterior_horizontal(5)<0.f) {
_X_posterior_horizontal(0) *= -1.f;
_X_posterior_horizontal(1) *= -1.f;
_X_posterior_horizontal(2) = _X_posterior_horizontal(2) - _X_posterior_horizontal(0);
_X_posterior_horizontal(3) = _X_posterior_horizontal(3) - _X_posterior_horizontal(1);
_X_posterior_horizontal(5) *= -1.f;
}
*/
}