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Remove unnecessary initialiseCovariance

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It is already called in reset()
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kamilritz
2019-12-17 18:55:51 +01:00
committed by Mathieu Bresciani
parent ef9f1053d0
commit a6bbafc7b0
1 changed files with 0 additions and 2 deletions
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EKF/ekf.cpp
-2
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@@ -202,8 +202,6 @@ bool Ekf::initialiseFilter()
// calculate the initial magnetic field and yaw alignment // calculate the initial magnetic field and yaw alignment
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState(), false, false); _control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState(), false, false);
// initialise the state covariance matrix
initialiseCovariance();
// update the yaw angle variance using the variance of the measurement // update the yaw angle variance using the variance of the measurement
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) { if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {