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EKF: initialize covariances before we reset the heading in order to p… #552
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…reserve the yaw uncertainty Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
priseborough
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Jan 13, 2019
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…reserve the yaw uncertainty
During bootup we first reset the heading and initialize the yaw variance. Then directly afterwards we reset the covariance matrix. This PR shifts the order such that the increase in yaw uncertainty during the heading reset is preserved.
Two bootups in sitl with and without the change. (The spike at x=200 is the increase in yaw variance during the heading reset when we get GPS lock)
master
PR
