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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:10:04 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-29 14:10:04 +0200 |
| commit | 8a442c2125502ef4b8c33bea85ac4a5d0c82906e (patch) | |
| tree | 4cdeffcbf1d86d1b93d3a1d74533621d19b1ab90 /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | 0bf9c2a9b262a4c8569031f0f7e9ded432d2d4b3 (diff) | |
| parent | 5db51bd704a4493fe3a53010b84bede19c980dfc (diff) | |
| download | px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.tar.gz px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.tar.bz2 px4-firmware-8a442c2125502ef4b8c33bea85ac4a5d0c82906e.zip | |
Merge branch 'navigator_rewrite' into navigator_rewrite_drton
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) { |