EKF: Fix bad limit on magnetometer noise parameter

9 years ago · 0d31aad33a
1 changed files with 1 additions and 1 deletions
--- a/EKF/mag_fusion.cpp
+++ b/EKF/mag_fusion.cpp
@ -55,7 +55,7 @@ void Ekf::fuseMag()
				@@ -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