From 000aa0de5d9c0f315815c9b61a34a3820839a374 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 11 Mar 2019 15:17:05 +0100 Subject: [PATCH] EKF: do not update the newest attitude estimate in initialiseFilter(). Is is now done in alignOutputFilter() --- EKF/ekf.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 84183a7af5..2c01bef64a 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -249,7 +249,6 @@ bool Ekf::initialiseFilter() // calculate initial tilt alignment Eulerf euler_init(roll, pitch, 0.0f); _state.quat_nominal = Quatf(euler_init); - _output_new.quat_nominal = _state.quat_nominal; // update transformation matrix from body to world frame _R_to_earth = quat_to_invrotmat(_state.quat_nominal);