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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-02-12 14:43:23 +0100 |
|---|---|---|
| committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-02-12 14:43:23 +0100 |
| commit | 6af2a38f3621afb57ec33e4298e4399fb567e25a (patch) | |
| tree | 287918edecf6e2239fd9bbe4c8b1704642c8858f /src/modules/ekf_att_pos_estimator/estimator_22states.cpp | |
| parent | a8c298c77260b496b2b04ba9348ce351086c68c1 (diff) | |
| download | px4-firmware-6af2a38f3621afb57ec33e4298e4399fb567e25a.tar.gz px4-firmware-6af2a38f3621afb57ec33e4298e4399fb567e25a.tar.bz2 px4-firmware-6af2a38f3621afb57ec33e4298e4399fb567e25a.zip | |
AttPosEKF: Moved class declaration to header file
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index e912e699e..f8c6510a2 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -1087,8 +1087,8 @@ void AttPosEKF::FuseVelposNED() else horizRetryTime = gpsRetryTimeNoTAS; // Form the observation vector - for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i]; - for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3]; + for (uint8_t i=0; i <=2; i++) observation[i] = velNED[i]; + for (uint8_t i=3; i <=4; i++) observation[i] = posNE[i-3]; observation[5] = -(hgtMea); // Estimate the GPS Velocity, GPS horiz position and height measurement variances. |