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AP_NavEKF3: fix wind speed covariance initialisation bug

This commit is contained in:
Paul Riseborough 2021-09-20 21:20:20 +10:00 committed by Andrew Tridgell
parent ea15834401
commit bc5efb6cd2
1 changed files with 3 additions and 5 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -88,11 +88,9 @@ void NavEKF3_core::setWindMagStateLearningMode()
} }
// set the wind state variances to the measurement uncertainty // set the wind state variances to the measurement uncertainty
for (uint8_t index=22; index<=23; index++) { zeroCols(P, 22, 23);
zeroCols(P, 22, 23); zeroRows(P, 22, 23);
zeroRows(P, 22, 23); P[22][22] = P[23][23] = trueAirspeedVariance;
P[index][index] = trueAirspeedVariance;
}
windStatesAligned = true; windStatesAligned = true;