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EKF hotfix: Add missing vector zero calls

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Lorenz Meier
2014-07-13 14:55:23 +02:00
parent cdfbe9bcc4
commit c610050dc3
1 changed files with 3 additions and 1 deletions
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src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+3 -1
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@@ -2280,7 +2280,7 @@ float AttPosEKF::ConstrainFloat(float val, float min, float max)
}
if (!isfinite(val)) {
ekf_debug("constrain: non-finite!");
//ekf_debug("constrain: non-finite!");
}
return ret;
@@ -2920,6 +2920,8 @@ void AttPosEKF::ZeroVariables()
correctedDelAng.zero();
summedDelAng.zero();
summedDelVel.zero();
dAngIMU.zero();
dVelIMU.zero();
lastGyroOffset.zero();
for (unsigned i = 0; i < data_buffer_size; i++) {