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AP_NavEKF: Add protection for badly conditioned innovation variances

mission-4.1.18

priseborough 11 years ago committed by Andrew Tridgell

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925c5751bd

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40dc0e56fe

1 changed files with 63 additions and 26 deletions

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1. 55
     libraries/AP_NavEKF/AP_NavEKF.cpp

55

libraries/AP_NavEKF/AP_NavEKF.cpp

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