From 71f12b2c4d1d5db507debc7e08e103ed8bad2ab6 Mon Sep 17 00:00:00 2001
From: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Date: Tue, 29 Aug 2023 15:00:26 +0200
Subject: [PATCH] ekf2: do not initially increase yaw variance

Yaw variance is automatically increased as soon as a yaw aiding source
is activated
---
 src/modules/ekf2/EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 4b0357b14c..45d66797f6 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -54,7 +54,7 @@ void Ekf::initialiseCovariance()
 {
 	P.zero();
 
-	resetQuatCov((_params.mag_fusion_type != MagFuseType::NONE) ?_params.mag_heading_noise : NAN);
+	resetQuatCov();
 
 	// velocity
 	P(4,4) = sq(fmaxf(_params.gps_vel_noise, 0.01f));