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AP_NavEKF2: fixed reset of coviariance matrix

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This commit is contained in:
Andrew Tridgell 2017-04-27 16:34:32 +10:00
parent 888edcd709
commit d799bacd7d
1 changed files with 2 additions and 7 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -413,13 +413,8 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
void NavEKF2_core::CovarianceInit()
{
// zero the matrix
for (uint8_t i=1; i<=stateIndexLim; i++)
{
for (uint8_t j=0; j<=stateIndexLim; j++)
{
P[i][j] = 0.0f;
}
}
memset(P, 0, sizeof(P));
// attitude error
P[0][0] = 0.1f;
P[1][1] = 0.1f;