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allow smaller nonzero variances during runtime
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@ -425,7 +425,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
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EKFStateVarianceSet(&vardata);
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int t;
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for (t = 0; t < EKFSTATEVARIANCE_P_NUMELEM; t++) {
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if (invalid_var(vardata.P[t])) {
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if (!IS_REAL(vardata.P[t]) || vardata.P[t] <= 0.0f) {
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INSResetP(this->ekfConfiguration.P);
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this->init_stage = -1;
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break;
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