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Raise awareness for drag variance(!=stdDev) bug

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kamilritz
2020-01-08 09:00:31 +01:00
committed by Mathieu Bresciani
parent 0b18143745
commit cec6d76577
1 changed files with 2 additions and 1 deletions
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EKF/drag_fusion.cpp
+2 -1
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@@ -49,7 +49,8 @@ void Ekf::fuseDrag()
float H_ACC[24] = {}; // Observation Jacobian float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector float Kfusion[24] = {}; // Kalman gain vector
float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2 // TODO: resolve variance vs stdDev bug
const float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3) const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)