AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance

2015-03-20 16:54:35 -07:00 · 2015-03-20 16:54:35 -07:00 · a976e9dad2
parent 92df3adb5e
commit a976e9dad2
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -3837,7 +3837,7 @@ void NavEKF::CovarianceInit()
    P[11][11] = P[10][10];
    P[12][12] = P[10][10];
    // Z delta velocity bias
-    P[13][13] = sq(radians(INIT_ACCEL_BIAS_UNCERTAINTY * dtIMU));;
+    P[13][13] = sq(INIT_ACCEL_BIAS_UNCERTAINTY * dtIMU);
    // wind velocities
    P[14][14] = 0.0f;
    P[15][15]  = P[14][14];