From dbe2513d489576bc449795e46fbccf2df1d0bc01 Mon Sep 17 00:00:00 2001 From: Carl Olsson Date: Sun, 22 May 2016 17:39:25 +0200 Subject: [PATCH] updated logic of calculation of body field variance (#146) --- EKF/covariance.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp index eff7d3d161..aee2a825cf 100644 --- a/EKF/covariance.cpp +++ b/EKF/covariance.cpp @@ -160,7 +160,7 @@ void Ekf::predictCovariance() // Don't continue to grow the earth field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned float mag_I_sig; - if (_control_status.flags.mag_3D && (P[16][16] + P[17][17] + P[18][8]) < 0.1f) { + if (_control_status.flags.mag_3D && (P[16][16] + P[17][17] + P[18][18]) < 0.1f) { mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.0f, 1.0f); } else {