mqkef updated

AhmedKhan04 · AhmedKhan04 · commit 45e7a2bef075 · 2026-03-07T15:46:53.000-06:00
diff --git a/MIDAS/src/gnc/mqekf.cpp b/MIDAS/src/gnc/mqekf.cpp
@@ -149,7 +149,7 @@ void QuaternionMEKF::measurement_update(Acceleration const &accel, Magnetometer
     mag(1, 0) = mag_input.my;
     mag(2, 0) = mag_input.mz;
     
-    if (acc(0) < 0 ) // Check if the norm of the accelerometer measurement is in boost
+    if (acc(0,0) < 0 ) // Check if the norm of the accelerometer measurement is in boost
     {
        Eigen::Matrix<float, 3, 3> Rm = sigma_m.array().square().matrix().asDiagonal(); 
        measurement_update_partial(mag, magnetometer_measurement_func(), Rm);

Original file line number	Diff line number	Diff line change
`@@ -149,7 +149,7 @@ void QuaternionMEKF::measurement_update(Acceleration const &accel, Magnetometer`
`149`	`149`	`mag(1, 0) = mag_input.my;`
`150`	`150`	`mag(2, 0) = mag_input.mz;`
`151`	`151`
`152`		`- if (acc(0) < 0 ) // Check if the norm of the accelerometer measurement is in boost`
	`152`	`+ if (acc(0,0) < 0 ) // Check if the norm of the accelerometer measurement is in boost`
`153`	`153`	`{`
`154`	`154`	`Eigen::Matrix<float, 3, 3> Rm = sigma_m.array().square().matrix().asDiagonal();`
`155`	`155`	`measurement_update_partial(mag, magnetometer_measurement_func(), Rm);`