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EKF: align output observer to EKF states on startup

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This commit is contained in:
Paul Riseborough 2016-05-23 20:50:58 +10:00
parent 3ec9221c18
commit 81ca167da8
1 changed files with 3 additions and 0 deletions
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3
EKF/ekf.cpp
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@ -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;
}
}