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Merge branch 'main' into limit-rot-rate-fix
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Marius Eggert
2024-03-06 10:18:15 +01:00
parent 616803c6a8 be0bae58ac
commit d0765fdcce
2 changed files with 3 additions and 1 deletions
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mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -342,7 +342,7 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
acsctrl::AttitudeEstimationData *attitudeEstimationData) {
// Kalman Gain: K = P * H' / (H * P * H' + R)
double kalmanGainDen[6][matrixDimensionFactor] = {{0}},
double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
residualCov[6][matrixDimensionFactor] = {{0}},
measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};