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ekf2: cleanup more optional mag (CONFIG_EKF2_MAGNETOMETER)

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Daniel Agar
2023-10-04 11:49:59 -04:00
parent 5f87f3a046
commit 28d58a947f
7 changed files with 71 additions and 45 deletions
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src/modules/ekf2/EKF/ekf.cpp
+5 -1
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@@ -57,14 +57,18 @@ void Ekf::reset()
{
ECL_INFO("reset");
_state.quat_nominal.setIdentity();
_state.vel.setZero();
_state.pos.setZero();
_state.gyro_bias.setZero();
_state.accel_bias.setZero();
#if defined(CONFIG_EKF2_MAGNETOMETER)
_state.mag_I.setZero();
_state.mag_B.setZero();
#endif // CONFIG_EKF2_MAGNETOMETER
_state.wind_vel.setZero();
_state.quat_nominal.setIdentity();
#if defined(CONFIG_EKF2_RANGE_FINDER)
_range_sensor.setPitchOffset(_params.rng_sens_pitch);