mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: Ensure Covariance initialisation uses correct IMU time step
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@ -575,15 +575,15 @@ bool NavEKF::InitialiseFilterDynamic(void)
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// set to true now that states have be initialised
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statesInitialised = true;
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// initialise the covariance matrix
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CovarianceInit();
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// define Earth rotation vector in the NED navigation frame
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calcEarthRateNED(earthRateNED, _ahrs->get_home().lat);
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// initialise IMU pre-processing states
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readIMUData();
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// initialise the covariance matrix
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CovarianceInit();
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return true;
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}
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@ -662,15 +662,15 @@ bool NavEKF::InitialiseFilterBootstrap(void)
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// set to true now we have intialised the states
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statesInitialised = true;
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// initialise the covariance matrix
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CovarianceInit();
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// define Earth rotation vector in the NED navigation frame
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calcEarthRateNED(earthRateNED, _ahrs->get_home().lat);
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// initialise IMU pre-processing states
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readIMUData();
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// initialise the covariance matrix
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CovarianceInit();
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return true;
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}
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