AP_NavEKF: Fix bug in optical flow innovation variances

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Also improves protection against badly conditioned variances

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priseborough 2015-01-08 08:04:15 +11:00 committed by Andrew Tridgell

parent 8bc8d1444a

commit a4ba4d1000

1 changed files with 16 additions and 12 deletions

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libraries/AP_NavEKF/AP_NavEKF.cpp

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