dc5b63e40e
1) there was a typo when computing the system covariance a term in dT^3 was ommitted; the impact was was very limited because of how small this term is. 2) initialize the system covariance matrix with non-zero values for the gyro-bias part. this improves the initial bias estimation speed significantly. 3) added comments here and there Change-Id: I4328c9cca73e089889d5e74b9fda99d7831762dc |
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