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Raise awareness for drag variance(!=stdDev) bug

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kamilritz 2019-12-25 17:37:25 +01:00 committed by Mathieu Bresciani
parent 0b18143745
commit cec6d76577
1 changed files with 2 additions and 1 deletions
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3
EKF/drag_fusion.cpp
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@ -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)