From 0c2489b07b68f744d7eaf610130b580fab5eebcf Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 5 Apr 2014 17:06:22 +1100
Subject: [PATCH] AP_NavEKF : Fix bug in logging of airspeed innovation
consistency ratio
---
libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 808ef68ae..ae0dac487 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3168,7 +3168,7 @@ void NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f
magVar.x = sqrtf(magTestRatio.x);
magVar.y = sqrtf(magTestRatio.y);
magVar.z = sqrtf(magTestRatio.z);
- tasVar = sqrtf(hgtTestRatio);
+ tasVar = sqrtf(tasTestRatio);
offset.x = posnOffsetNorth;
offset.y = posnOffsetEast;
}
--
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