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EKF: Fix covariance index bug

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Paul Riseborough
2016-06-04 00:36:07 +10:00
parent 8bfdb0430c
commit f08aee0a7d
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -306,7 +306,7 @@ void Ekf::controlHeightSensorTimeouts()
_time_bad_vert_accel = _time_last_imu;
}
if ((P[8][8] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
if ((P[9][9] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
// boolean that indicates we will do a height reset
bool reset_height = false;