AP_NavEKF3: Add missing covariance row reset

2021-12-20 09:30:14 +11:00 · 2021-12-20 09:30:14 +11:00 · 664b55a49a
parent 6ef5a9a909
commit 664b55a49a
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@ -1923,6 +1923,7 @@ 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];