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EKF: Fix specific force observation noise variance

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Also add protection for out of range value.
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Paul Riseborough
2020-08-16 16:57:58 +10:00
committed by Paul Riseborough
parent 76f393dcb0
commit fd849e0578
1 changed files with 1 additions and 1 deletions
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EKF/drag_fusion.cpp
+1 -1
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@@ -48,8 +48,8 @@ void Ekf::fuseDrag()
{ {
SparseVector24f<0,1,2,3,4,5,6,22,23> Hfusion; // Observation Jacobians SparseVector24f<0,1,2,3,4,5,6,22,23> Hfusion; // Observation Jacobians
Vector24f Kfusion; // Kalman gain vector Vector24f Kfusion; // Kalman gain vector
const float R_ACC = sq(_params.drag_noise); // observation noise variance in specific force drag (m/sec**2)**2
const float R_ACC = fmaxf(_params.drag_noise, 0.5f); // observation noise variance in specific force drag (m/sec**2)**2
const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3) const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)
// calculate inverse of ballistic coefficient // calculate inverse of ballistic coefficient