From a976e9dad296d48c8a38d7c943c88dcb81c92f80 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 20 Mar 2015 16:54:35 -0700 Subject: [PATCH] AP_NavEKF : Fix bug in scaling of initial Z accel bias state variance --- libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 47d216a4bf..e19b05207c 100644 --- 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];