From 9f3b1351f7a44ff9cbc2cdeebc0788ac2e32b624 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 16 Mar 2016 17:20:57 +1100 Subject: [PATCH] EKF: Don't initialise velocity to GPS on initial alignment For initial alignment the velocity and position should start at zero --- EKF/ekf.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 0f37410801..262d4ddf05 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -434,9 +434,6 @@ bool Ekf::initialiseFilter(void) _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 initialiseCovariance();