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AP_NavEKF: Bug fix in covariance error correction

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Paul Riseborough 2014-01-03 19:20:10 +11:00 committed by Andrew Tridgell
parent 43dc9bc055
commit e69eea3086
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1812,7 +1812,7 @@ void NavEKF::FixCovarianceErrors()
{ {
for (uint8_t j=0; j<=i-1; j++) for (uint8_t j=0; j<=i-1; j++)
{ {
float temp = 0.5f*(P[i][j] + P[j][i]); float temp = 0.5f*(nextP[i][j] + nextP[j][i]);
P[i][j] = temp; P[i][j] = temp;
P[j][i] = temp; P[j][i] = temp;
} }