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gps_alt: reset GPS alt variance usign helper function

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bresch 2020-12-10 10:28:36 +01:00 committed by Paul Riseborough
parent f7bddda3d5
commit 62f2e26c49
1 changed files with 1 additions and 3 deletions
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4
EKF/covariance.cpp
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@ -74,9 +74,7 @@ void Ekf::initialiseCovariance()
P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
} else if (_control_status.flags.gps_hgt) {
float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
P(9,9) = sq(1.5f * math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit));
P(9,9) = getGpsAltVar();
} else {
P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));