fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 05:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: fix bug in sideslip fusion activation

Browse Source
This commit is contained in:
Paul Riseborough
2017-10-20 10:51:17 +11:00
parent 59f1c3e19e
commit e4ffe199ed
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/sideslip_fusion.cpp
+1 -1
View File
@@ -79,7 +79,7 @@ void Ekf::fuseSideslip()
rel_wind = earth_to_body * rel_wind;
// perform fusion of assumed sideslip = 0
if (rel_wind(0) > 7.0f) {
if (rel_wind.norm() > 7.0f) {
// Calculate the observation jacobians
// intermediate variable from algebraic optimisation