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EKF: add missing initialisation for class variables

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This commit is contained in:
Paul Riseborough
2017-01-15 10:02:31 +01:00
committed by Lorenz Meier
parent f999729d70
commit 26a06567bb
2 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
+3
View File
@@ -114,9 +114,11 @@ Ekf::Ekf():
_hagl_innov(0.0f),
_hagl_innov_var(0.0f),
_time_last_hagl_fuse(0),
_terrain_initialised(false),
_baro_hgt_faulty(false),
_gps_hgt_faulty(false),
_rng_hgt_faulty(false),
_primary_hgt_source(VDIST_SENSOR_BARO),
_time_bad_vert_accel(0)
{
_state = {};
@@ -141,6 +143,7 @@ Ekf::Ekf():
_imu_del_ang_of = {};
_gps_check_fail_status.value = 0;
_state_reset_status = {};
_dt_ekf_avg = 0.001f * (float)(FILTER_UPDATE_PERIOD_MS);
}
Ekf::~Ekf()
EKF/estimator_interface.cpp
+9
View File
@@ -62,6 +62,7 @@ EstimatorInterface::EstimatorInterface():
_yaw_test_ratio(0.0f),
_tas_test_ratio(0.0f),
_terr_test_ratio(0.0f),
_beta_test_ratio(0.0f),
_time_last_imu(0),
_time_last_gps(0),
_time_last_mag(0),
@@ -69,6 +70,7 @@ EstimatorInterface::EstimatorInterface():
_time_last_range(0),
_time_last_airspeed(0),
_time_last_ext_vision(0),
_time_last_optflow(0),
_mag_declination_gps(0.0f),
_mag_declination_to_save_deg(0.0f)
{
@@ -78,6 +80,13 @@ EstimatorInterface::EstimatorInterface():
_delta_ang_prev.setZero();
_delta_vel_prev.setZero();
memset(_vibe_metrics, 0, sizeof(_vibe_metrics));
memset(&_mag_sample_delayed, 0, sizeof(_mag_sample_delayed));
memset(&_baro_sample_delayed, 0, sizeof(_baro_sample_delayed));
memset(&_gps_sample_delayed, 0, sizeof(_gps_sample_delayed));
memset(&_range_sample_delayed, 0, sizeof(_range_sample_delayed));
memset(&_airspeed_sample_delayed, 0, sizeof(_airspeed_sample_delayed));
memset(&_flow_sample_delayed, 0, sizeof(_flow_sample_delayed));
memset(&_ev_sample_delayed, 0, sizeof(_ev_sample_delayed));
}
EstimatorInterface::~EstimatorInterface()