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EKF: Add variables to monitor vertical position and height offset

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This commit is contained in:
Paul Riseborough
2016-04-22 08:28:56 +10:00
parent 62c6d40f1f
commit 0de15b1b20
2 changed files with 9 additions and 1 deletions
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EKF/ekf.cpp
+5 -1
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@@ -85,7 +85,11 @@ Ekf::Ekf():
_baro_hgt_faulty(false),
_gps_hgt_faulty(false),
_rng_hgt_faulty(false),
_baro_hgt_offset(0.0f)
_baro_hgt_offset(0.0f),
_vert_pos_reset_delta(0.0f),
_time_vert_pos_reset(0),
_vert_vel_reset_delta(0.0f),
_time_vert_vel_reset(0)
{
_state = {};
_last_known_posNE.setZero();