AP_NavEKF3: correctly use wheel odometry speed for pitched rovers

2017-10-31 07:18:30 +11:00 · 2017-10-31 07:18:30 +11:00 · c96bc54254
parent 68828511cd
commit c96bc54254
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@ -1589,7 +1589,7 @@ void NavEKF3_core::SelectBodyOdomFusion()
            unitVec.x = prevTnb.a.x;
            unitVec.y = prevTnb.a.y;
            unitVec.z = 0.0f;
-            unitVec.normalized();
+            unitVec.normalize();

            // multiply by forward speed to get velocity vector measured by wheel encoders
            Vector3f velNED = unitVec * fwdSpd;