AP_NavEKF : Fix bug in initial East mag field state variance

2014-03-05 18:52:42 +11:00 · 2014-03-05 18:52:42 +11:00 · 94ff7522fc
commit 94ff7522fc
parent 63234d4c22
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -2420,7 +2420,7 @@ void NavEKF::CovarianceInit(float roll, float pitch, float yaw)
    P[15][15]  = P[14][14];
 	// NED magnetic field
    P[16][16] = sq(0.02f);
-    P[17][17] = P[16][15];
+    P[17][17] = P[16][16];
    P[18][18] = P[16][16];
 	// XYZ magnetic field
    P[19][19] = sq(0.02f);