From c36024e222b13c3e475f04d9eb9be3b840c801cb Mon Sep 17 00:00:00 2001 From: Marvin Harms Date: Sun, 23 Oct 2022 08:25:08 +0200 Subject: [PATCH] added parameter mirrorinf for negative alpha --- .../fw_dyn_soar_estimator/FixedwingShearEstimator.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp index aafe9f9820..1700345f74 100644 --- a/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp +++ b/src/modules/fw_dyn_soar_estimator/FixedwingShearEstimator.cpp @@ -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; } - */ + }