mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: remove unwanted co-variance reset
The co-variance resets required following a velocity and position state reset is now performed in the stte reset function
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@ -143,10 +143,9 @@ void NavEKF2_core::setAidingMode()
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// reset the last valid position fix time to prevent unwanted activation of GPS glitch logic
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// reset the last valid position fix time to prevent unwanted activation of GPS glitch logic
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lastPosPassTime_ms = imuSampleTime_ms;
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lastPosPassTime_ms = imuSampleTime_ms;
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}
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}
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// Reset all position, velocity and covariance
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// Reset the position and velocity
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ResetVelocity();
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ResetVelocity();
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ResetPosition();
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ResetPosition();
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CovarianceInit();
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}
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}
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