diff options
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index df319a93a..8c30521e3 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -1088,7 +1088,7 @@ void AttPosEKF::FuseVelposNED() stateIndex = 4 + obsIndex; // Calculate the measurement innovation, using states from a // different time coordinate if fusing height data - if (obsIndex >= 0 && obsIndex <= 2) + if (obsIndex <= 2) { innovVelPos[obsIndex] = statesAtVelTime[stateIndex] - observation[obsIndex]; } |