24f9bea8eb
initialize the system covariance matrix with non-zero
values for the gyro-bias part. this improves the initial
bias estimation speed significantly.
the initial covariance matrix should be small because the drift
changes slowly. the real problem is that we're not starting with
a good estimate of the drift, which this algorithm relies on.
so with this revert, it'll take a while for the drift to be estimated
but it won't be unstable.
Change-Id: Id5584bc114a2390d507643b2451b2650c1b90721
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| MODULE_LICENSE_APACHE2 | ||
| NOTICE | ||