From c7cf442e16b0a87806170804f713d4957341272b Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 9 Jan 2018 11:48:39 +0100 Subject: [PATCH] ekf2: use ev eph/v for noise parameter if bigger than noise param --- src/modules/ekf2/ekf2_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 8a899f6d21..e76d2b1614 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -864,7 +864,7 @@ void Ekf2::run() ev_data.quat = q; // position measurement error from parameters. TODO : use covariances from topic - ev_data.posErr = _ev_pos_noise.get(); + ev_data.posErr = fmaxf(_ev_pos_noise.get(), fmaxf(ev_pos.eph, ev_pos.epv)); ev_data.angErr = _ev_ang_noise.get(); // use timestamp from external computer, clocks are synchronized when using MAVROS