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AP_NavEKF : Fixes bug that causes accel bias to diverge in static mode, preventing copter arming

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Paul Riseborough 2014-03-21 18:52:27 +11:00 committed by Andrew Tridgell
parent 71f61c9bef
commit b2c0979947
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1544,7 +1544,7 @@ void NavEKF::FuseVelPosNED()
// because there may be no stored states due to lack of real measurements. // because there may be no stored states due to lack of real measurements.
// in static mode, only position and height fusion is used // in static mode, only position and height fusion is used
if (staticMode) { if (staticMode) {
for (uint8_t i=7; i<=9; i++) { for (uint8_t i=0; i<=30; i++) {
statesAtPosTime[i] = states[i]; statesAtPosTime[i] = states[i];
statesAtHgtTime[i] = states[i]; statesAtHgtTime[i] = states[i];
} }