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Observation index cannot get negative.

This commit is contained in:
Lorenz Meier 2014-06-29 12:00:54 +02:00
parent 092ede366a
commit b64c64d5a3
1 changed files with 1 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/estimator_23states.cpp
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@ -1088,7 +1088,7 @@ void AttPosEKF::FuseVelposNED()
stateIndex = 4 + obsIndex; stateIndex = 4 + obsIndex;
// Calculate the measurement innovation, using states from a // Calculate the measurement innovation, using states from a
// different time coordinate if fusing height data // different time coordinate if fusing height data
if (obsIndex >= 0 && obsIndex <= 2) if (obsIndex <= 2)
{ {
innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex]; innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex];
} }