From c7a45adf52b3a1b4cad6cd4703ec63442e478630 Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Sat, 7 Sep 2024 14:39:26 -0400 Subject: [PATCH] Update Kalman.h --- bbn_wave_freq_m5atomS3/Kalman.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bbn_wave_freq_m5atomS3/Kalman.h b/bbn_wave_freq_m5atomS3/Kalman.h index e9d808c..b3ae1ac 100644 --- a/bbn_wave_freq_m5atomS3/Kalman.h +++ b/bbn_wave_freq_m5atomS3/Kalman.h @@ -618,7 +618,7 @@ void kalman_predict_P_tuned(register kalman_t *const kf, matrix_data_t lambda) { /************************************************************************/ /* Predict next covariance using system dynamics and input */ - /* P = A*P*A' * 1/lambda^2 + B*Q*B' */ + /* P = F*P*F' * 1/lambda^2 + Q */ /************************************************************************/ // lambda = 1/lambda^2