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AP_NavEKF: fixed return of offset in getVariances()

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This commit is contained in:
Andrew Tridgell 2014-04-03 07:46:56 +11:00
parent dcb42af3e9
commit cd3038fabd
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3166,7 +3166,7 @@ void NavEKF::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &m
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
// this indicates the amount of margin available when tuning the various error traps
// also return the current offsets applied to the GPS position measurements
void NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f offset) const
void NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const
{
velVar = sqrtf(velTestRatio);
posVar = sqrtf(posTestRatio);

2
libraries/AP_NavEKF/AP_NavEKF.h
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@ -133,7 +133,7 @@ public:
void getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov) const;
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f offset) const;
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
static const struct AP_Param::GroupInfo var_info[];