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AP_NavEKF3: Add missing covariance row reset

This commit is contained in:
Andrew Tridgell 2021-12-20 09:30:14 +11:00
parent 6ef5a9a909
commit 664b55a49a
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1923,6 +1923,7 @@ void NavEKF3_core::ConstrainVariances()
} }
// reset all delta velocity bias covariances // reset all delta velocity bias covariances
zeroCols(P,13,15); zeroCols(P,13,15);
zeroRows(P,13,15);
// restore all delta velocity bias variances // restore all delta velocity bias variances
for (uint8_t i=0; i<=2; i++) { for (uint8_t i=0; i<=2; i++) {
P[i+13][i+13] = delVelBiasVar[i]; P[i+13][i+13] = delVelBiasVar[i];