From fbf67bdef99f6033ce6c1fb6736cd7bf67020602 Mon Sep 17 00:00:00 2001 From: zhaoxiaowei Date: Wed, 9 Dec 2020 11:39:24 +0800 Subject: [PATCH] reset gps height use vacc --- EKF/ekf_helper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index f6fa48d2eb..30074cc549 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -271,7 +271,7 @@ void Ekf::resetHeight() _state.pos(2) = _hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref; // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, sq(gps_newest.hacc)); + P.uncorrelateCovarianceSetVariance<1>(9, sq(gps_newest.vacc)); vert_pos_reset = true;