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Fix Dimension Error in MEKF #873

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meggert merged 2 commits from fix-mekf-dim into main 2024-03-06 10:17:12 +01:00
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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, double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
acsctrl::AttitudeEstimationData *attitudeEstimationData) { acsctrl::AttitudeEstimationData *attitudeEstimationData) {
// Kalman Gain: K = P * H' / (H * P * H' + R) // Kalman Gain: K = P * H' / (H * P * H' + R)
double kalmanGainDen[6][matrixDimensionFactor] = {{0}}, double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}}, invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
residualCov[6][matrixDimensionFactor] = {{0}}, residualCov[6][matrixDimensionFactor] = {{0}},
measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}}; measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};