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Fix gps vertical observation variance

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kamilritz 2019-12-03 12:57:25 +01:00 committed by Paul Riseborough
parent ecd199d5d0
commit f32fce28a3
1 changed files with 1 additions and 0 deletions
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EKF/control.cpp
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@ -718,6 +718,7 @@ void Ekf::controlGpsFusion()
}
gps_vel_obs_var(0) = gps_vel_obs_var(1) = gps_vel_obs_var(2) = sq(fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise));
gps_vel_obs_var(2) = sq(1.5f) * gps_vel_obs_var(2);
// calculate innovations
_gps_vel_innov(0) = _state.vel(0) - _gps_sample_delayed.vel(0);