fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 10:31:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Clean initialiseFilter function (#687)

Browse Source 
* Clean initialiseFilter

* Add const qualifiers
This commit is contained in:
kritz
2019-12-17 13:36:28 +01:00
committed by Mathieu Bresciani
parent 532c9abd4a
commit 01495ede97
2 changed files with 18 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.h
+1 -2
View File
@@ -462,9 +462,8 @@ private:
float _gps_alt_ref{0.0f}; ///< WGS-84 height (m)
// Variables used to initialise the filter states
uint32_t _hgt_counter{0}; ///< number of height samples read during initialisation
float _rng_filt_state{0.0f}; ///< filtered height measurement (m)
bool _is_first_imu_sample{true};
uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation
uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation
uint64_t _time_last_mag{0}; ///< measurement time of last magnetomter sample (uSec)
AlphaFilterVector3f _mag_lpf; ///< filtered magnetometer measurement for instant reset(Gauss)