EKF: Save mag field covariance data before reset

2026-10-28 12:33:34 +08:00 · 2019-01-31 09:53:57 -05:00
parent 82ce7a83a5
commit d52f53635b
3 changed files with 77 additions and 38 deletions
@@ -916,7 +916,7 @@ void Ekf::fuseDeclination(float decl_sigma)
 			}
 		}

-		// correct the covariance marix for gross errors
+		// correct the covariance matrix for gross errors
 		fixCovarianceErrors();

 		// apply the state corrections