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EKF: Don't assume large position uncertainty when starting optical flow nav

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This commit is contained in:
Paul Riseborough 2018-05-07 11:20:17 +10:00
parent e26711af7d
commit bdf5b3e003
1 changed files with 3 additions and 1 deletions
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4
EKF/ekf_helper.cpp
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@ -168,7 +168,9 @@ bool Ekf::resetPosition()
}
setDiag(P, 7, 8, sq(_params.pos_noaid_noise));
// estimate is relative to initial positon in this mode, so we start with zero error.
zeroCols(P,7,8);
zeroRows(P,7,8);
} else {
// Used when falling back to non-aiding mode of operation