From 38d3efa985be394c846e6afe294006ab074335f7 Mon Sep 17 00:00:00 2001 From: ggregory8 Date: Wed, 23 Jul 2014 15:12:26 +0800 Subject: Correct vision velocity estimate correction type --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/position_estimator_inav') diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 77e94a27c..d3192fec2 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -1016,8 +1016,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(corr_vision[1][0], dt, y_est, 0, w_xy_vision_p); if (w_xy_vision_v > MIN_VALID_W) { - inertial_filter_correct(corr_gps[0][1], dt, x_est, 1, w_xy_vision_v); - inertial_filter_correct(corr_gps[1][1], dt, y_est, 1, w_xy_vision_v); + inertial_filter_correct(corr_vision[0][1], dt, x_est, 1, w_xy_vision_v); + inertial_filter_correct(corr_vision[1][1], dt, y_est, 1, w_xy_vision_v); } } -- cgit v1.2.3