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Initialize velNED fields correctly, preventing a bogus initial filter reset

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Lorenz Meier
2014-06-21 19:44:30 +02:00
parent 6bab694e45
commit 0673740e0e
1 changed files with 4 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+4 -1
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@@ -35,8 +35,11 @@ AttPosEKF::AttPosEKF()
magDeclination = 0.0f;
dAngIMU.zero();
dVelIMU.zero();
ekfDiverged = false;
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
delAngTotal.zero();
ekfDiverged = false;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
ZeroVariables();