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AP_AHRS: fixed bug in blended EKF bias

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The bug fix in #20431 was incomplete, and ended up with the wrong
blended accel bias. This fixes it
This commit is contained in:
Andrew Tridgell 2022-05-03 20:39:27 +10:00 committed by Randy Mackay
parent 274d526a69
commit 63140014c1
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -587,7 +587,7 @@ void AP_AHRS::update_EKF3(void)
_accel_ef_ekf[i] = _dcm_matrix * accel; _accel_ef_ekf[i] = _dcm_matrix * accel;
} }
} }
_accel_ef_ekf_blended = _accel_ef_ekf[_ins.get_primary_accel()]; _accel_ef_ekf_blended = _accel_ef_ekf[primary_imu>=0?primary_imu:_ins.get_primary_accel()];
nav_filter_status filt_state; nav_filter_status filt_state;
EKF3.getFilterStatus(-1,filt_state); EKF3.getFilterStatus(-1,filt_state);
update_notify_from_filter_status(filt_state); update_notify_from_filter_status(filt_state);