Merge pull request #3 from bolderflight/earthrad

Typo / bug in EKF15 state didn't take the sqrt of the denominator in …
bolderflight · Dec 21, 2022 · 9029646 · 9029646
2 parents d427553 + 8f8d6cc
commit 9029646
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,8 @@
 # Changelog
 
+## v4.0.2
+- Typo / bug in EKF15 state didn't take the sqrt of the denominator in the radius of curvature calc
+
 ## v4.0.1
 - Fixed inline-ness of functions
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.14)
 # Project information
 project(Navigation
-  VERSION 4.0.1
+  VERSION 4.0.2
   DESCRIPTION "Navigation filters and utilities"
   LANGUAGES CXX
 )

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=Bolder Flight Systems Navigation
-version=4.0.1
+version=4.0.2
 author=Brian Taylor <[email protected]>
 maintainer=Brian Taylor <[email protected]>
 sentence=Navigation and state estimation transformations, utilities, and filters.

diff --git a/src/ekf_15_state.h b/src/ekf_15_state.h
@@ -264,7 +264,7 @@ class Ekf15State {
     /* Position update */
     double denom = fabs(1.0 - (ECC2 * sin(ins_lla_rad_m_(0)) *
                   sin(ins_lla_rad_m_(0))));
-    double sqrt_denom = denom;
+    double sqrt_denom = std::sqrt(denom);
     double Rns = SEMI_MAJOR_AXIS_LENGTH_M * (1 - ECC2) /
                 (denom * sqrt_denom);
     double Rew = SEMI_MAJOR_AXIS_LENGTH_M / sqrt_denom;