eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

Fix Dimension Error in MEKF #873

Merged
meggert merged 2 commits from fix-mekf-dim into main 2024-03-06 10:17:12 +01:00
Conversation 1 Commits 2 Files Changed 2 +1 -1
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files
Showing only changes of commit 2364f7d5d9 - Show all commits

2
mission/controller/acs/MultiplicativeKalmanFilter.cpp
View File

@ -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}};