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EKF: Improve recovery and reporting for badly conditioned sideslip fusion

Do not reset the entire covariance matrix if we are only using sideslip fusion to update wind states.
Improve reporting.

master

Paul Riseborough 8 years ago committed by Lorenz Meier

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6c7703d485

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750a8874c1

1 changed files with 20 additions and 7 deletions

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     EKF/sideslip_fusion.cpp

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EKF/sideslip_fusion.cpp

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