From 0d31aad33a67f92b0ccf010c3c4ee5922327f8f1 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 2 May 2016 22:59:51 +1000 Subject: [PATCH] EKF: Fix bad limit on magnetometer noise parameter --- EKF/mag_fusion.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index 65d612c060..c8943275fb 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -55,7 +55,7 @@ void Ekf::fuseMag() float magD = _state.mag_I(2); // XYZ Measurement uncertainty. Need to consider timing errors for fast rotations - float R_MAG = fmaxf(_params.mag_noise, 1.0); + float R_MAG = fmaxf(_params.mag_noise, 0.0f); R_MAG = R_MAG * R_MAG; // intermediate variables from algebraic optimisation