From 8d73fd6f27ff524be88c2a2e06a67e22f47d28b9 Mon Sep 17 00:00:00 2001
From: Miller
Date: Fri, 7 Jul 2017 04:34:34 -0500
Subject: fix param and P0 bugs

---
 src/main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index b72c0f1..31222ca 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -133,7 +133,7 @@ covCallback(const message &msg, State &mu, const Quaterniond &q)
     Renuned << 0.,1.,0.,1.,0.,0.,0.,0.,-1;
     Matrix3d pcov = Renuned*msg.covariance.position*Renuned.transpose();
     pcov(2,2) *= 10;
-    mu.position_covariance(pcov);
+    //mu.position_covariance(pcov);
     mu.velocity_covariance(Rbw.transpose()*msg.covariance.velocity*Rbw);
 #if STATESIZE==13
     Matrix3d Patt;
-- 
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