AP_NavEKF : Fix bug in logging of airspeed innovation consistency ratio

11 years ago · 0c2489b07b
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -3168,7 +3168,7 @@ void  NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f
				@@ -3168,7 +3168,7 @@ void  NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f
    magVar.x = sqrtf(magTestRatio.x);
    magVar.y = sqrtf(magTestRatio.y);
    magVar.z = sqrtf(magTestRatio.z);
-    tasVar   = sqrtf(hgtTestRatio);
+    tasVar   = sqrtf(tasTestRatio);
    offset.x = posnOffsetNorth;
    offset.y = posnOffsetEast;
 }