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reset gps height use vacc

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zhaoxiaowei
2020-12-10 10:07:59 +01:00
committed by Mathieu Bresciani
parent 8f3df7a97b
commit fbf67bdef9
1 changed files with 1 additions and 1 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -271,7 +271,7 @@ void Ekf::resetHeight()
_state.pos(2) = _hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref; _state.pos(2) = _hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref;
// the state variance is the same as the observation // 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; vert_pos_reset = true;