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EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion

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This commit is contained in:
Paul Riseborough
2019-01-31 09:53:57 -05:00
committed by Daniel Agar
parent bd1647a7fb
commit fe378fd761
2 changed files with 1 additions and 2 deletions
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EKF/covariance.cpp
-1
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@@ -847,7 +847,6 @@ void Ekf::fixCovarianceErrors()
if (!_control_status.flags.mag_3D) {
zeroRows(P, 16, 21);
zeroCols(P, 16, 21);
_mag_decl_cov_reset = false;
} else {
// constrain variances