EKF: fix indexing bug (#387)

Should use index 9 for vertical position.
PX4 · Jan 29, 2018 · cd95d0e · cd95d0e
1 parent 4f3b97a
commit cd95d0e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/EKF/control.cpp b/EKF/control.cpp
@@ -650,7 +650,7 @@ void Ekf::controlHeightSensorTimeouts()
 			baroSample baro_init = _baro_buffer.get_newest();
 			bool baro_data_fresh = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
 			float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset);
-			bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P[8][8]) * sq(_params.baro_innov_gate);
+			bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P[9][9]) * sq(_params.baro_innov_gate);
 
 			// if baro data is acceptable and GPS data is inaccurate, reset height to baro
 			bool reset_to_baro = baro_data_consistent && baro_data_fresh && !_baro_hgt_faulty && !gps_hgt_accurate;