dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

EKF: use initial wind uncertainty with no airspeed sensor (#823)

This commit is contained in:
Carl Olsson 2020-05-20 08:38:58 +02:00 committed by GitHub
parent bf78044bcd
commit 7f21364844
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
EKF/covariance.cpp
View File

@ -935,7 +935,7 @@ void Ekf::resetWindCovariance()
} else {
// without airspeed, start with a small initial uncertainty to improve the initial estimate
P.uncorrelateCovarianceSetVariance<2>(22, 1.0f);
P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty);
}
}