EKF: align output observer to EKF states on startup

2026-10-07 19:08:53 +08:00 · 2016-06-01 17:13:00 +10:00
parent 3ec9221c18
commit 81ca167da8
1 changed files with 3 additions and 0 deletions
@@ -567,6 +567,9 @@ bool Ekf::initialiseFilter(void)
 		_time_last_hagl_fuse = _time_last_imu;
 		_time_last_of_fuse = _time_last_imu;

+		// reset the output predictor state history to match the EKF initial values
+		alignOutputFilter();
+
 		return true;
 	}
 }