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ekf2: Fix dimensional error in gyro and accel bias variance conversions

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Paul Riseborough 2021-07-27 19:58:35 +10:00 committed by Daniel Agar
parent 5677ab042b
commit ed7c5991eb
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/EKF/ekf.h
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@ -230,8 +230,8 @@ public:
Vector3f getAccelBias() const { return _state.delta_vel_bias / _dt_ekf_avg; } // get the accelerometer bias in m/s**2
const Vector3f &getMagBias() const { return _state.mag_B; }
Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / _dt_ekf_avg; } // get the gyroscope bias variance in rad/s
Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / _dt_ekf_avg; } // get the accelerometer bias variance in m/s**2
Vector3f getGyroBiasVariance() const { return Vector3f{P(10, 10), P(11, 11), P(12, 12)} / sq(_dt_ekf_avg); } // get the gyroscope bias variance in rad/s
Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / sq(_dt_ekf_avg); } // get the accelerometer bias variance in m/s**2
Vector3f getMagBiasVariance() const { return Vector3f{P(19, 19), P(20, 20), P(21, 21)}; }
// get GPS check status