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fix(ekf2): fix observation_variance unit mismatch in comparison #27044

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Merged
dakejahl merged 1 commit into from
Apr 12, 2026
+3 −2
Merged

fix(ekf2): fix observation_variance unit mismatch in comparison #27044

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5 changes: 3 additions & 2 deletions src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -378,13 +378,14 @@ void Ekf::controlGnssYawEstimator(estimator_aid_source3d_s &aid_src_vel)
{
// update yaw estimator velocity (basic sanity check on GNSS velocity data)
const float vel_var = aid_src_vel.observation_variance[0];
const float vel_accuracy = sqrtf(vel_var);
const Vector2f vel_xy(aid_src_vel.observation);

if ((vel_var > 0.f)
&& (vel_var < _params.ekf2_req_sacc)
&& (vel_accuracy < _params.ekf2_req_sacc)
&& vel_xy.isAllFinite()) {

_yawEstimator.fuseVelocity(vel_xy, vel_var, _control_status.flags.in_air);
_yawEstimator.fuseVelocity(vel_xy, vel_accuracy, _control_status.flags.in_air);

// Try to align yaw using estimate if available
if (((_params.ekf2_gps_ctrl & static_cast<int32_t>(GnssCtrl::VEL))
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