From 5178f4a7d00a36ab44f6f4edd8506f411de2dc79 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Thu, 16 Dec 2021 07:08:36 +1100 Subject: [PATCH] AP_NavEKF3: Add missing covariance row reset --- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index e0f19e58ce..acaf071358 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -1940,6 +1940,7 @@ void NavEKF3_core::ConstrainVariances() } // reset all delta velocity bias covariances zeroCols(P,13,15); + zeroRows(P,13,15); // restore all delta velocity bias variances for (uint8_t i=0; i<=2; i++) { P[i+13][i+13] = delVelBiasVar[i];