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ekf: Better variable zeroing

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Lorenz Meier
2014-04-22 10:26:44 +02:00
parent bd637697e4
commit 1e80e62491
1 changed files with 11 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
+11 -2
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@@ -153,8 +153,16 @@ AttPosEKF::AttPosEKF() :
useCompass(true),
useRangeFinder(true),
numericalProtection(true),
storeIndex(0)
storeIndex(0),
gpsHgt(0.0f),
baroHgt(0.0f),
GPSstatus(0),
VtasMeas(0.0f),
{
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
InitialiseParameters();
ZeroVariables();
}
@@ -1967,7 +1975,7 @@ void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, flo
void AttPosEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
if (staticMode) {
staticMode = !(GPSstatus > GPS_FIX_2D);
}
@@ -2515,6 +2523,7 @@ void AttPosEKF::ZeroVariables()
magstate.DCM.identity();
memset(&current_ekf_state, 0, sizeof(current_ekf_state));
}
void AttPosEKF::GetFilterState(struct ekf_status_report *state)