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EKF: don't initialise filter without EV data if we are relying on it

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Paul Riseborough
2016-05-18 19:25:19 +10:00
parent 50ba26a434
commit 22fba0fc6e
2 changed files with 20 additions and 4 deletions
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EKF/ekf.h
+3 -2
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@@ -209,9 +209,10 @@ private:
float _gps_alt_ref; // WGS-84 height (m)
// Variables used to initialise the filter states
uint32_t _hgt_counter; // number of height samples taken
uint32_t _hgt_counter; // number of height samples read during initialisation
float _rng_filt_state; // filtered height measurement
uint32_t _mag_counter; // number of magnetometer samples taken
uint32_t _mag_counter; // number of magnetometer samples read during initialisation
uint32_t _ev_counter; // number of exgernal vision samples read during initialisation
uint64_t _time_last_mag; // measurement time of last magnetomter sample
Vector3f _mag_filt_state; // filtered magnetometer measurement
Vector3f _delVel_sum; // summed delta velocity