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Merge pull request #64 from mcsauder/master

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Additional filter variable initializations required to fully reset the filter variables
This commit is contained in:
Paul Riseborough
2016-02-26 23:06:56 +11:00
parent 78d6f6941c 5fb48a2e7b
commit 2c9a814de1
1 changed files with 8 additions and 1 deletions
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EKF/ekf.cpp
+8 -1
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@@ -115,7 +115,11 @@ bool Ekf::init(uint64_t timestamp)
_output_new.vel.setZero();
_output_new.pos.setZero();
_output_new.quat_nominal = matrix::Quaternion<float>();
_delta_angle_corr.setZero();
_delta_vel_corr.setZero();
_vel_corr.setZero();
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();
_imu_down_sampled.delta_ang_dt = 0.0f;
@@ -131,6 +135,9 @@ bool Ekf::init(uint64_t timestamp)
_NED_origin_initialised = false;
_gps_speed_valid = false;
_mag_healthy = false;
_filter_initialised = false;
return ret;
}