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EKF: Improvements to covariance reset

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This commit is contained in:
Paul Riseborough
2016-05-07 12:57:41 +10:00
parent d9aeace6ac
commit da9d894441
5 changed files with 19 additions and 22 deletions
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EKF/optflow_fusion.cpp
+1 -1
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@@ -438,7 +438,7 @@ void Ekf::fuseOptFlow()
// first calculate expression for KHP
// then calculate P - KHP
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column <= 5; column++) {
for (unsigned column = 0; column <= 6; column++) {
KH[row][column] = gain[row] * H_LOS[obs_index][column];
}
}