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AP_NavEKF3: fixed reset of coviariance matrix

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This commit is contained in:
Andrew Tridgell 2017-04-27 16:34:47 +10:00
parent d799bacd7d
commit 18b66f9eed
1 changed files with 1 additions and 7 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -470,13 +470,7 @@ bool NavEKF3_core::InitialiseFilterBootstrap(void)
void NavEKF3_core::CovarianceInit()
{
// zero the matrix
for (uint8_t i=1; i<=stateIndexLim; i++)
{
for (uint8_t j=0; j<=stateIndexLim; j++)
{
P[i][j] = 0.0f;
}
}
memset(P, 0, sizeof(P));
// define the initial angle uncertainty as variances for a rotation vector
Vector3f rot_vec_var;