Update KalmanSmoother.h

bareboat-necessities · Sep 2, 2024 · 509d90d · 509d90d
1 parent a8a8af5
commit 509d90d
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/bbn_wave_freq_m5atomS3/KalmanSmoother.h b/bbn_wave_freq_m5atomS3/KalmanSmoother.h
@@ -69,7 +69,7 @@ float kalman_smoother_update(KalmanSmootherVars* s, float measurement) {
   // measurement update
   s->k = s->p / (s->p + s->r);
   float current_estimate = s->x + s->k * (measurement - s->x);
-  s->p = (1.0 - s->k) * s->p + abs(s->x - current_estimate) * s->q;
+  s->p = (1.0 - s->k) * s->p + fabs(s->x - current_estimate) * s->q;
   s->x = current_estimate;
   return s->x;
 }