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EKF: Prevent possible div 0 due to incorrect initial values

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Gate size class variables should not be initialised to zero, because it will cause a /0 error if fuseVelPosHeight() is called before they are set to their respective parameter values.
This commit is contained in:
Paul Riseborough 2018-01-04 07:47:03 +11:00
parent f0862210c7
commit 0f047504d4
1 changed files with 2 additions and 2 deletions
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EKF/ekf.h
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@ -266,10 +266,10 @@ private:
bool _fuse_hor_vel_aux{false}; ///< true when auxiliary horizontal velocity measurement should be fused
float _posObsNoiseNE{0.0f}; ///< 1-STD observtion noise used for the fusion of NE position data (m)
float _posInnovGateNE{0.0f}; ///< Number of standard deviations used for the NE position fusion innovation consistency check
float _posInnovGateNE{1.0f}; ///< Number of standard deviations used for the NE position fusion innovation consistency check
Vector2f _velObsVarNE; ///< 1-STD observation noise variance used for the fusion of NE velocity data (m/sec)**2
float _hvelInnovGate{0.0f}; ///< Number of standard deviations used for the horizontal velocity fusion innovation consistency check
float _hvelInnovGate{1.0f}; ///< Number of standard deviations used for the horizontal velocity fusion innovation consistency check
// variables used when position data is being fused using a relative position odometry model
bool _fuse_hpos_as_odom{false}; ///< true when the NE position data is being fused using an odometry assumption