Confuse about "flg_EKF_inited" flag.

[OliverShaoPT]

for (iterCount = -1; iterCount < NUM_MAX_ITERATIONS && flg_EKF_inited; iterCount++) { ..... / Iterative Kalman Filter Update / if ( !flg_EKF_inited ){ ... } }

[xuankuzcr]

It means that the EKF update should be performed after the initialization is successfully completed.

[OliverShaoPT]

It means that the EKF update should be performed after the initialization is successfully completed.

The inside if condition "!flg_EKF_inited" won't be triggered as the outside big for_loop's conditions contain "flg_EKF_inited". I am confused about: 1, Is the initialization process in the EKF update loop useless? or 2, Should I delete the flg_EKF_inited condition in the EKF iterated for_loop?

[xuankuzcr]

You seem to be right. I think it's safe to delete it without any issues.

[OliverShaoPT]

Thanks!