From fd109b00ab64d170886d6b459a6cbaae62cc1d90 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 3 May 2016 22:44:30 +1000
Subject: [PATCH] EKF: replace in-line code with existing function

---
 EKF/covariance.cpp | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index c78ab046e0..25d7a7764b 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -211,12 +211,7 @@ void Ekf::predictCovariance()
 	dvxVar = dvyVar = dvzVar = sq(dt * accel_noise);
 
 	// force symmetry on the covariance matrix before we use it for the prediction step
-	for (unsigned row = 1; row < _k_num_states; row++) {
-		for (unsigned column = 0; column < row; column++) {
-			P[row][column] = 0.5f * (P[row][column] + P[column][row]);
-			P[column][row] = P[row][column];
-		}
-	}
+	makeSymmetrical();
 
 	// predict the covariance