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AP_NavEKF3: fix computation of rho

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Jonathan Challinger 2024-10-29 11:22:47 -04:00 committed by Peter Barker
parent 10209a2a13
commit 564879594e
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -485,7 +485,7 @@ void NavEKF3_core::FuseDragForces()
ZERO_FARRAY(Kfusion);
Vector24 Hfusion; // Observation Jacobians
const ftype R_ACC = sq(fmaxF(frontend->_dragObsNoise, 0.5f));
const ftype density_ratio = sqrtF(dal.get_EAS2TAS());
const ftype density_ratio = 1.0f/sq(dal.get_EAS2TAS());
const ftype rho = fmaxF(1.225f * density_ratio, 0.1f); // air density
// get latest estimated orientation