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EKF: Don't initialise velocity to GPS on initial alignment 

For initial alignment the velocity and position should start at zero
This commit is contained in:
Paul Riseborough 2016-03-16 17:20:57 +11:00
parent 687fcc70be
commit 9f3b1351f7
1 changed files with 0 additions and 3 deletions
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EKF/ekf.cpp
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@ -434,9 +434,6 @@ bool Ekf::initialiseFilter(void)
_baro_hgt_offset = 0.0f; _baro_hgt_offset = 0.0f;
} }
// set the velocity to the GPS measurement (by definition, the initial position and height is at the origin)
resetVelocity();
// initialise the state covariance matrix // initialise the state covariance matrix
initialiseCovariance(); initialiseCovariance();