EKF: add mag bias reset helper and update IMU bias reset to match (#924)

2026-10-19 12:13:34 +08:00 · 2020-12-08 12:16:59 -05:00
parent 03cfcb903e
commit da7d41e78a
3 changed files with 43 additions and 22 deletions
@@ -92,9 +92,6 @@ void Ekf::initialiseCovariance()
 	_prev_dvel_bias_var(1) = P(14,14) = P(13,13);
 	_prev_dvel_bias_var(2) = P(15,15) = P(13,13);

-	// record IMU bias state covariance reset time - used to prevent resets being performed too often
-	_last_imu_bias_cov_reset_us = _imu_sample_delayed.time_us;
-
 	resetMagCov();

 	// wind