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ardupilot/libraries/AP_NavEKF
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priseborough a6cd04ca4c AP_NavEKF : Fix bug in GPS innovation variance growth calculation 
The uncertainty in acceleration is currently only scaled using horizontal accelerations, however during vertical plane aerobatics and high g pullups, misalignment in angles can cause significant horizontal acceleration error.
The scaling now uses the 3D acceleration vector length to better work during vertical plane high g maneouvres.
This error was found during flight testing with 8g pullups
 		2014-09-27 10:34:54 +09:00
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AP_NavEKF.cpp AP_NavEKF : Fix bug in GPS innovation variance growth calculation 2014-09-27 10:34:54 +09:00
AP_NavEKF.h AP_NavEKF : Reduce weighting on GPS when not enough satellites 2014-09-23 20:39:50 +09:00