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updated logic of calculation of body field variance (#146)

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Carl Olsson
2016-05-22 17:39:25 +02:00
committed by Lorenz Meier
parent 4c5252269c
commit dbe2513d48
1 changed files with 1 additions and 1 deletions
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EKF/covariance.cpp
+1 -1
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@@ -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 // 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; 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); mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.0f, 1.0f);
} else { } else {