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AP_NavEKF3: fixed init of earth state mag variances

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we were starting with zero variance for X and Y earth states, it
should start with sq(magNoise)
This commit is contained in:
Andrew Tridgell 2020-09-17 07:54:34 +10:00
parent 534e63e2fa
commit 1f21d72c79
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -121,7 +121,7 @@ void NavEKF3_core::setWindMagStateLearningMode()
P[21][21] = bodyMagFieldVar.z; P[21][21] = bodyMagFieldVar.z;
} else { } else {
// set the variances equal to the observation variances // set the variances equal to the observation variances
for (uint8_t index=18; index<=21; index++) { for (uint8_t index=16; index<=21; index++) {
P[index][index] = sq(frontend->_magNoise); P[index][index] = sq(frontend->_magNoise);
} }