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Proper zero init of the filter

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Lorenz Meier
2014-04-20 03:39:43 +02:00
parent fd34a8432e
commit 9c5dbeef3a
1 changed files with 2 additions and 0 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
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@@ -2711,6 +2711,8 @@ void AttPosEKF::ZeroVariables()
states[i] = 0.0f; // state matrix states[i] = 0.0f; // state matrix
} }
correctedDelAng.zero();
for (unsigned i = 0; i < data_buffer_size; i++) { for (unsigned i = 0; i < data_buffer_size; i++) {
for (unsigned j = 0; j < n_states; j++) { for (unsigned j = 0; j < n_states; j++) {