From cec6d76577cd64d77c5d7d7ec77ab51af2fe3830 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Wed, 25 Dec 2019 17:37:25 +0100 Subject: [PATCH] Raise awareness for drag variance(!=stdDev) bug --- EKF/drag_fusion.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp index 1b7f69fc08..93a4516a44 100644 --- a/EKF/drag_fusion.cpp +++ b/EKF/drag_fusion.cpp @@ -49,7 +49,8 @@ void Ekf::fuseDrag() float H_ACC[24] = {}; // Observation Jacobian float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector float Kfusion[24] = {}; // Kalman gain vector - float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2 + // TODO: resolve variance vs stdDev bug + const float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2 const float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)