From b3ff81648b6cff8f87f1a30d1a0ecad82d2f0097 Mon Sep 17 00:00:00 2001
From: Daniel Magree <daniel.magree@gtri.gatech.edu>
Date: Tue, 29 Oct 2019 10:59:28 -0400
Subject: [PATCH] Nav_EKF3: varInnovBodyVel assigned the innovation covariance,
 rather than inverse

---
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 3f5378aed6..7dc38b8578 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1108,7 +1108,7 @@ void NavEKF3_core::FuseBodyVel()
                 faultStatus.bad_xvel = true;
                 return;
             }
-            varInnovBodyVel[0] = t77;
+            varInnovBodyVel[0] = t76;
 
             // calculate innovation for X axis observation
             innovBodyVel[0] = bodyVelPred.x - bodyOdmDataDelayed.vel.x;
@@ -1280,7 +1280,7 @@ void NavEKF3_core::FuseBodyVel()
                 faultStatus.bad_yvel = true;
                 return;
             }
-            varInnovBodyVel[1] = t77;
+            varInnovBodyVel[1] = t76;
 
             // calculate innovation for Y axis observation
             innovBodyVel[1] = bodyVelPred.y - bodyOdmDataDelayed.vel.y;
@@ -1452,7 +1452,7 @@ void NavEKF3_core::FuseBodyVel()
                 faultStatus.bad_zvel = true;
                 return;
             }
-            varInnovBodyVel[2] = t77;
+            varInnovBodyVel[2] = t76;
 
             // calculate innovation for Z axis observation
             innovBodyVel[2] = bodyVelPred.z - bodyOdmDataDelayed.vel.z;