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ekf2: preflight checker fix flow y innovation filter

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This commit is contained in:
Daniel Agar
2022-02-21 16:55:51 -05:00
committed by Mathieu Bresciani
parent 4f62b01dc7
commit f431b233f3
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/Utility/PreFlightChecker.cpp
+1 -1
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@@ -86,7 +86,7 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
const Vector2f flow_innov = Vector2f(innov.flow);
Vector2f flow_innov_lpf;
flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
flow_innov_lpf(1) = _filter_flow_x_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim);
}