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Code Issues Releases Activity

Updating INS Pos/Vel variance includes the vertical velocity

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This commit is contained in:
James Cotton 2012-04-15 11:50:11 -05:00
parent b71e9fc9dc
commit 6e215bd029
2 changed files with 2 additions and 2 deletions
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2
flight/Libraries/insgps13state.c
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@ -183,7 +183,7 @@ void INSSetPosVelVar(float PosVar, float VelVar)
R[2] = PosVar; R[2] = PosVar;
R[3] = VelVar; R[3] = VelVar;
R[4] = 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]) void INSSetGyroBias(float gyro_bias[3])

2
flight/Libraries/insgps16state.c
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@ -170,7 +170,7 @@ void INSSetPosVelVar(float PosVar, float VelVar)
R[2] = PosVar; R[2] = PosVar;
R[3] = VelVar; R[3] = VelVar;
R[4] = 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]) void INSSetGyroBias(float gyro_bias[3])