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Code Issues Releases Activity

allow smaller nonzero variances during runtime

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This commit is contained in:
Corvus Corax 2013-06-09 13:57:36 +02:00
parent 022f1a1ac0
commit a99255a36a
1 changed files with 1 additions and 1 deletions
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2
flight/modules/StateEstimation/filterekf.c
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@ -425,7 +425,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
EKFStateVarianceSet(&vardata);
int t;
for (t = 0; t < EKFSTATEVARIANCE_P_NUMELEM; t++) {
if (invalid_var(vardata.P[t])) {
if (!IS_REAL(vardata.P[t]) || vardata.P[t] <= 0.0f) {
INSResetP(this->ekfConfiguration.P);
this->init_stage = -1;
break;