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Fix vel pos test ratio

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kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent 2df2dede2f
commit ecd199d5d0
4 changed files with 10 additions and 12 deletions
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EKF/control.cpp
+1 -1
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@@ -728,7 +728,7 @@ void Ekf::controlGpsFusion()
// set innovation gate size
gps_pos_innov_gates(0) = fmaxf(_params.gps_pos_innov_gate, 1.0f);
gps_pos_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates,gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);