From 9566804f8c06f2d907381fb69fa67ab02a8e7150 Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Fri, 14 Sep 2018 12:33:15 +0100
Subject: [PATCH] fix small typo on PX4_ISFINITE covariance verification
---
src/modules/ekf2/ekf2_main.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index d3c142cabf..63993eca53 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1172,7 +1172,7 @@ void Ekf2::run()
ev_data.posNED(2) = ev_odom.z;
// position measurement error from parameters
- if (PX4_ISFINITE(ev_odom.COVARIANCE_MATRIX_X_VARIANCE)) {
+ if (PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
ev_data.posErr = fmaxf(_ev_pos_noise.get(), sqrtf(fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE],
ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])));
ev_data.hgtErr = fmaxf(_ev_pos_noise.get(), sqrtf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])));
@@ -1187,7 +1187,7 @@ void Ekf2::run()
ev_data.quat = matrix::Quatf(ev_odom.q);
// orientation measurement error from parameters
- if (PX4_ISFINITE(ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE)) {
+ if (PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE])) {
ev_data.angErr = fmaxf(_ev_ang_noise.get(),
sqrtf(fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_PITCH_VARIANCE],
--
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