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mtecs/wind: store wind variance

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This commit is contained in:
Thomas Gubler 2014-06-27 21:44:21 +02:00
parent 831a3d4ed1
commit d45cc69d1d
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
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@ -1345,8 +1345,8 @@ FixedwingEstimator::task_main()
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = 0.0f; // XXX get form filter
_wind.covariance_east = 0.0f;
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {