tree 70b1099232f3780baee49700b70446a0b1eeee32
parent 8dd4fe8dd37b740282b48b7867eec26fcf95e027
author Mathias Agopian <mathias@google.com> 1340070548 -0700
committer Mathias Agopian <mathias@google.com> 1340842076 -0700

small improvement to sensor fusion

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