From 6e215bd02975d39f206dc838b2ab0e807afe1196 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Sun, 15 Apr 2012 11:50:11 -0500 Subject: [PATCH] Updating INS Pos/Vel variance includes the vertical velocity --- flight/Libraries/insgps13state.c | 2 +- flight/Libraries/insgps16state.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/Libraries/insgps13state.c b/flight/Libraries/insgps13state.c index f48000972..1bb0df9ce 100644 --- a/flight/Libraries/insgps13state.c +++ b/flight/Libraries/insgps13state.c @@ -183,7 +183,7 @@ void INSSetPosVelVar(float PosVar, float VelVar) R[2] = PosVar; R[3] = VelVar; R[4] = VelVar; -// R[5] = PosVar; // Don't change vertical velocity, not measured + R[5] = PosVar; // Don't change vertical velocity, not measured } void INSSetGyroBias(float gyro_bias[3]) diff --git a/flight/Libraries/insgps16state.c b/flight/Libraries/insgps16state.c index 2a763131c..d57d7560b 100755 --- a/flight/Libraries/insgps16state.c +++ b/flight/Libraries/insgps16state.c @@ -170,7 +170,7 @@ void INSSetPosVelVar(float PosVar, float VelVar) R[2] = PosVar; R[3] = VelVar; R[4] = VelVar; -// R[5] = PosVar; // Don't change vertical velocity, not measured + R[5] = PosVar; // Don't change vertical velocity, not measured } void INSSetGyroBias(float gyro_bias[3])