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EKF: ensure fusion timeout counters are reset when required

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Paul Riseborough
2016-04-22 08:33:11 +10:00
parent 10bf05e9a6
commit a7417657c3
2 changed files with 14 additions and 0 deletions
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EKF/ekf.cpp
+7
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@@ -488,6 +488,13 @@ bool Ekf::initialiseFilter(void)
// initialise the terrain estimator
initHagl();
// reset the essential fusion timeout counters
_time_last_hgt_fuse = _time_last_imu;
_time_last_pos_fuse = _time_last_imu;
_time_last_vel_fuse = _time_last_imu;
_time_last_hagl_fuse = _time_last_imu;
_time_last_of_fuse = _time_last_imu;
return true;
}
}