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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-27 21:44:21 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-27 21:44:56 +0200 |
| commit | d45cc69d1d62a2ccac00757ab02a731fca6d6ece (patch) | |
| tree | 063b4a6bd8dcfbba148988c435531c06b4218fc8 /src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | |
| parent | 831a3d4ed14bc068ee086c5190af96ad809f67d7 (diff) | |
| download | px4-firmware-d45cc69d1d62a2ccac00757ab02a731fca6d6ece.tar.gz px4-firmware-d45cc69d1d62a2ccac00757ab02a731fca6d6ece.tar.bz2 px4-firmware-d45cc69d1d62a2ccac00757ab02a731fca6d6ece.zip | |
mtecs/wind: store wind variance
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 93ed18b8d..272ad5344 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 @@ -1345,8 +1345,8 @@ 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) { |