AP_NavEKF: Fix bug in optical flow innovation variance integrity check

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The check allowed negative innovation variances to pass. If this did occur, the filter would diverge.

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Paul Riseborough 2015-04-05 08:56:04 +10:00 committed by Andrew Tridgell

parent 389148ac54

commit 7fc0f026d2

1 changed files with 2 additions and 2 deletions

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libraries/AP_NavEKF/AP_NavEKF.cpp

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