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AP_Airspeed: fixed typo

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This commit is contained in:
Andrew Tridgell 2013-07-20 17:05:52 +10:00
parent d1805f4349
commit 3ba0dec4b3
1 changed files with 2 additions and 3 deletions
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libraries/AP_Airspeed/Airspeed_Calibration.cpp
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@ -89,13 +89,12 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
// force symmetry on the covariance matrix - necessary due to rounding // force symmetry on the covariance matrix - necessary due to rounding
// errors // errors
// Implementation may also need a further check to prevent diagonal
float P12 = 0.5f * (P.a.y + P.b.x); float P12 = 0.5f * (P.a.y + P.b.x);
float P13 = 0.5f * (P.a.z + P.c.x); float P13 = 0.5f * (P.a.z + P.c.x);
float P23 = 0.5f * (P.b.z + P.c.y); float P23 = 0.5f * (P.b.z + P.c.y);
P.a.y = P.b.x = P12; P.a.y = P.b.x = P12;
P.a.z = P.c.x = P12; P.a.z = P.c.x = P13;
P.b.z = P.c.y = P13; P.b.z = P.c.y = P23;
return state.z; return state.z;
} }