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EKF initialize _hvelInnovGate

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- fixes CID 139550
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Daniel Agar
2018-01-03 08:07:28 +01:00
committed by Lorenz Meier
parent bdbc05cf91
commit f0862210c7
1 changed files with 1 additions and 1 deletions
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EKF/ekf.h
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@@ -269,7 +269,7 @@ private:
float _posInnovGateNE{0.0f}; ///< Number of standard deviations used for the NE position fusion innovation consistency check float _posInnovGateNE{0.0f}; ///< Number of standard deviations used for the NE position fusion innovation consistency check
Vector2f _velObsVarNE; ///< 1-STD observation noise variance used for the fusion of NE velocity data (m/sec)**2 Vector2f _velObsVarNE; ///< 1-STD observation noise variance used for the fusion of NE velocity data (m/sec)**2
float _hvelInnovGate; ///< Number of standard deviations used for the horizontal velocity fusion innovation consistency check float _hvelInnovGate{0.0f}; ///< Number of standard deviations used for the horizontal velocity fusion innovation consistency check
// variables used when position data is being fused using a relative position odometry model // variables used when position data is being fused using a relative position odometry model
bool _fuse_hpos_as_odom{false}; ///< true when the NE position data is being fused using an odometry assumption bool _fuse_hpos_as_odom{false}; ///< true when the NE position data is being fused using an odometry assumption