mirror of https://github.com/ArduPilot/ardupilot
AP_AHRS: fixed bug in blended EKF bias
The bug fix in #20431 was incomplete, and ended up with the wrong blended accel bias. This fixes it
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@ -587,7 +587,7 @@ void AP_AHRS::update_EKF3(void)
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_accel_ef_ekf[i] = _dcm_matrix * accel;
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_accel_ef_ekf[i] = _dcm_matrix * accel;
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}
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}
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}
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}
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_accel_ef_ekf_blended = _accel_ef_ekf[_ins.get_primary_accel()];
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_accel_ef_ekf_blended = _accel_ef_ekf[primary_imu>=0?primary_imu:_ins.get_primary_accel()];
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nav_filter_status filt_state;
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nav_filter_status filt_state;
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EKF3.getFilterStatus(-1,filt_state);
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EKF3.getFilterStatus(-1,filt_state);
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update_notify_from_filter_status(filt_state);
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update_notify_from_filter_status(filt_state);
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