From 3ce789e5776540e6c75a561dccda0dea029c1188 Mon Sep 17 00:00:00 2001
From: Christian Forster <forster@ifi.uzh.ch>
Date: Fri, 21 Aug 2015 18:00:00 +0200
Subject: [PATCH] Fix computation of bias covariance from continous-time noise
 density (issue #252).

---
 gtsam/navigation/CombinedImuFactor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index 3547719ac..a264ebebb 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -133,8 +133,8 @@ void CombinedImuFactor::CombinedPreintegratedMeasurements::integrateMeasurement(
   G_measCov_Gt.block<3, 3>(6, 6) = (1 / deltaT) * (H_angles_biasomega)
       * (gyroscopeCovariance() + biasAccOmegaInit_.block<3, 3>(3, 3))
       * (H_angles_biasomega.transpose());
-  G_measCov_Gt.block<3, 3>(9, 9) = (1 / deltaT) * biasAccCovariance_;
-  G_measCov_Gt.block<3, 3>(12, 12) = (1 / deltaT) * biasOmegaCovariance_;
+  G_measCov_Gt.block<3, 3>(9, 9) = deltaT * biasAccCovariance_;
+  G_measCov_Gt.block<3, 3>(12, 12) = deltaT * biasOmegaCovariance_;
   // OFF BLOCK DIAGONAL TERMS
   Matrix3 block23 = H_vel_biasacc * biasAccOmegaInit_.block<3, 3>(3, 0)
       * H_angles_biasomega.transpose();