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AP_NavEKF3: Fix indexing error 

Caused by copy and paste from AP_NavEKF2 which useds index 5 for vertical velocity. EKF3  should use index 6.
This commit is contained in:
Paul Riseborough 2019-03-15 06:06:41 +11:00 committed by Andrew Tridgell
parent 0d3e1a7d23
commit b7e0a2345c
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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@ -112,7 +112,7 @@ void NavEKF3_core::EstimateTerrainOffset()
// in addition to a terrain gradient error model, we also have the growth in uncertainty due to the copters vertical velocity // in addition to a terrain gradient error model, we also have the growth in uncertainty due to the copters vertical velocity
float timeLapsed = MIN(0.001f * (imuSampleTime_ms - timeAtLastAuxEKF_ms), 1.0f); float timeLapsed = MIN(0.001f * (imuSampleTime_ms - timeAtLastAuxEKF_ms), 1.0f);
float Pincrement = (distanceTravelledSq * sq(frontend->_terrGradMax)) + sq(timeLapsed)*P[5][5]; float Pincrement = (distanceTravelledSq * sq(frontend->_terrGradMax)) + sq(timeLapsed)*P[6][6];
Popt += Pincrement; Popt += Pincrement;
timeAtLastAuxEKF_ms = imuSampleTime_ms; timeAtLastAuxEKF_ms = imuSampleTime_ms;