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ekf: move "reset" part of the init function into a separate function

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add getter for the vehicle at rest flag
This commit is contained in:
bresch
2019-11-05 09:07:25 +01:00
committed by Mathieu Bresciani
parent 7eb9118673
commit bf48004fb9
3 changed files with 13 additions and 2 deletions
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EKF/ekf.cpp
+7 -2
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@@ -47,6 +47,13 @@
bool Ekf::init(uint64_t timestamp)
{
bool ret = initialise_interface(timestamp);
reset(timestamp);
return ret;
}
void Ekf::reset(uint64_t timestamp)
{
_state.vel.setZero();
_state.pos.setZero();
_state.gyro_bias.setZero();
@@ -94,8 +101,6 @@ bool Ekf::init(uint64_t timestamp)
_accel_mag_filt = 0.0f;
_ang_rate_mag_filt = 0.0f;
_prev_dvel_bias_var.zero();
return ret;
}
bool Ekf::update()