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AP_NavEKF: fixed corrected del velocity to use both accels

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This commit is contained in:
Andrew Tridgell 2015-06-17 11:59:38 +10:00
parent db4ac68f5e
commit c221959d5a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -733,7 +733,7 @@ void NavEKF::UpdateFilter()
// sum delta angles and time used by covariance prediction
summedDelAng = summedDelAng + correctedDelAng;
summedDelVel = summedDelVel + correctedDelVel1;
summedDelVel = summedDelVel + correctedDelVel12;
dt += dtIMUactual;
// perform a covariance prediction if the total delta angle has exceeded the limit