diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-28 17:20:44 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-28 17:20:44 +0200 |
| commit | 045ee8c7c7c4618a8a03f9c9342f53d2fc7333c9 (patch) | |
| tree | e04acc5d91d2ff1cb36d97370e3897d7caf9f9ea /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | cc8f7f4c97de923f60f9469aa2847e6e1474d52d (diff) | |
| parent | 7b15a424f06074c37ade650c5fd2661495b06e74 (diff) | |
| download | px4-firmware-045ee8c7c7c4618a8a03f9c9342f53d2fc7333c9.tar.gz px4-firmware-045ee8c7c7c4618a8a03f9c9342f53d2fc7333c9.tar.bz2 px4-firmware-045ee8c7c7c4618a8a03f9c9342f53d2fc7333c9.zip | |
Merge remote-tracking branch 'upstream/mtecs' into navigator_rewrite
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index abe272e56..ac99e658d 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -1368,8 +1368,8 @@ FixedwingEstimator::task_main() _wind.timestamp = _global_pos.timestamp; _wind.windspeed_north = _ekf->states[14]; _wind.windspeed_east = _ekf->states[15]; - _wind.covariance_north = 0.0f; // XXX get form filter - _wind.covariance_east = 0.0f; + _wind.covariance_north = _ekf->P[14][14]; + _wind.covariance_east = _ekf->P[15][15]; /* lazily publish the wind estimate only once available */ if (_wind_pub > 0) { |