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fix(filter): Correct Kalman covariance update signal #21

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fix(filter): Correct Kalman covariance update signal #21

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2 changes: 1 addition & 1 deletion src/filter/filter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ void filter_data(volatile axisData_t *gyroRateData, volatile axisData_t *gyroAcc
filteredData->rateData.y = ptnFilterApply(filteredData->rateData.y, &(lpfFilterStateRate.y));
filteredData->rateData.z = ptnFilterApply(filteredData->rateData.z, &(lpfFilterStateRate.z));

update_kalman_covariance(gyroRateData);
update_kalman_covariance(&(filteredData->rateData));


if (setPointNew)
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2 changes: 1 addition & 1 deletion src/version.h
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Expand Up @@ -3,4 +3,4 @@
#define HARDWARE_VERSION 101
#define BOOTLOADER_VERSION 101

#define FIRMWARE_VERSION 256
#define FIRMWARE_VERSION 257
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