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EKF: align output observer to EKF states on startup

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Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 3ec9221c18
commit 81ca167da8
1 changed files with 3 additions and 0 deletions
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EKF/ekf.cpp
+3
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@@ -567,6 +567,9 @@ bool Ekf::initialiseFilter(void)
_time_last_hagl_fuse = _time_last_imu; _time_last_hagl_fuse = _time_last_imu;
_time_last_of_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; return true;
} }
} }