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EKF: fix bug in sideslip fusion activation

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Paul Riseborough
2017-10-20 14:44:37 +11:00
parent 59f1c3e19e
commit e4ffe199ed
1 changed files with 1 additions and 1 deletions
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EKF/sideslip_fusion.cpp
+1 -1
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@@ -79,7 +79,7 @@ void Ekf::fuseSideslip()
rel_wind = earth_to_body * rel_wind; rel_wind = earth_to_body * rel_wind;
// perform fusion of assumed sideslip = 0 // perform fusion of assumed sideslip = 0
if (rel_wind(0) > 7.0f) { if (rel_wind.norm() > 7.0f) {
// Calculate the observation jacobians // Calculate the observation jacobians
// intermediate variable from algebraic optimisation // intermediate variable from algebraic optimisation