From e0734384252675e2a37f4d9287184cc48ab68b05 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 14:23:43 -0500
Subject: EKF is working

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index bb2a3b3..897a319 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -98,7 +98,7 @@ imgCallback(message &msg, State &mu, Camera &cam, const Quaterniond &q)
         if (fclose(fin)==EOF) {
             err_sys("fclose");
         }
-        mu.feature_update(z,q);
+        mu.handle_measurements(z,q);
     }
 
     return;
-- 
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