From ee5fc4ad8ec758b1a22ea0f0352c4664ee8d01fc Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 23 Jul 2022 18:33:20 +1000 Subject: [PATCH] AP_Airspeed: use row_times_mat --- libraries/AP_Airspeed/Airspeed_Calibration.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Airspeed/Airspeed_Calibration.cpp b/libraries/AP_Airspeed/Airspeed_Calibration.cpp index 5a94648328..b6571ea0c2 100644 --- a/libraries/AP_Airspeed/Airspeed_Calibration.cpp +++ b/libraries/AP_Airspeed/Airspeed_Calibration.cpp @@ -84,7 +84,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t m state += KG*(TAS_mea - TAS_pred); // [3 x 1] + [3 x 1] * [1 x 1] // Update the covariance matrix - Vector3f HP2 = H_TAS * P; + Vector3f HP2 = H_TAS.row_times_mat(P); P -= KG.mul_rowcol(HP2); // force symmetry on the covariance matrix - necessary due to rounding