From 5bb2ff34c7b2eb4a6d8a609a52b33ef0fde1e2ec Mon Sep 17 00:00:00 2001
From: Christopher Rabotin <christopher.rabotin@gmail.com>
Date: Tue, 11 Feb 2025 13:36:23 -0700
Subject: [PATCH] Revert r_k / s_k in stored measurement covariance sqrt

---
 src/od/filter/kalman.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/od/filter/kalman.rs b/src/od/filter/kalman.rs
index 1d96ef02..df3e066b 100644
--- a/src/od/filter/kalman.rs
+++ b/src/od/filter/kalman.rs
@@ -326,7 +326,7 @@ where
                 let pred_est = self.time_update(nominal_state)?;
                 return Ok((
                     pred_est,
-                    Residual::rejected(epoch, prefit, ratio, s_k.diagonal()),
+                    Residual::rejected(epoch, prefit, ratio, r_k_chol.diagonal()),
                 ));
             }
         }