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AP_NavEKF3: fixed constrain indexing bug

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fixes #20180

thanks to @liyue75 for spotting this!
This commit is contained in:
Andrew Tridgell 2022-03-01 11:24:44 +11:00 committed by Randy Mackay
parent 47739344b8
commit 36f68c8b64
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1945,7 +1945,7 @@ void NavEKF3_core::ConstrainVariances()
zeroCols(P,13,15);
zeroRows(P,13,15);
for (uint8_t i=0; i<=2; i++) {
const uint8_t stateIndex = 1 + 13;
const uint8_t stateIndex = i + 13;
P[stateIndex][stateIndex] = fmaxF(P[stateIndex][stateIndex], minStateVarTarget);
}
}