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AHRS_NavEKF: fix blended accel to use primary accel

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This commit is contained in:
Randy Mackay 2015-08-01 17:19:26 +09:00
parent 5f00ea77e8
commit cdd64fc43d
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -138,7 +138,7 @@ void AP_AHRS_NavEKF::update(void)
EKF.getIMU1Weighting(IMU1_weighting); EKF.getIMU1Weighting(IMU1_weighting);
_accel_ef_ekf_blended = _accel_ef_ekf[0] * IMU1_weighting + _accel_ef_ekf[1] * (1.0f-IMU1_weighting); _accel_ef_ekf_blended = _accel_ef_ekf[0] * IMU1_weighting + _accel_ef_ekf[1] * (1.0f-IMU1_weighting);
} else { } else {
_accel_ef_ekf_blended = _accel_ef_ekf[0]; _accel_ef_ekf_blended = _accel_ef_ekf[_ins.get_primary_accel()];
} }
} }
} }