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AP_NavEKF3: Initialise mag field variances to non zero values

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Paul Riseborough 2020-09-23 06:56:55 +10:00 committed by Andrew Tridgell
parent 0b96f046c2
commit 9168d0cd19
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -602,11 +602,11 @@ void NavEKF3_core::CovarianceInit()
P[14][14] = P[13][13]; P[14][14] = P[13][13];
P[15][15] = P[13][13]; P[15][15] = P[13][13];
// earth magnetic field // earth magnetic field
P[16][16] = 0.0f; P[16][16] = sq(frontend->_magNoise);
P[17][17] = P[16][16]; P[17][17] = P[16][16];
P[18][18] = P[16][16]; P[18][18] = P[16][16];
// body magnetic field // body magnetic field
P[19][19] = 0.0f; P[19][19] = sq(frontend->_magNoise);
P[20][20] = P[19][19]; P[20][20] = P[19][19];
P[21][21] = P[19][19]; P[21][21] = P[19][19];
// wind velocities // wind velocities