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set state to unknown during init (re-init)

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This commit is contained in:
Marco Hauswirth 2025-07-15 15:41:26 +02:00
parent 18bee5e08b
commit db468f78a1
2 changed files with 2 additions and 1 deletions
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1
src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
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@ -52,6 +52,7 @@ void RangeFinderConsistencyCheck::init(const float z, const float z_var, const f
_initialized = true;
_test_ratio_lpf.reset(0.f);
_t_since_first_sample = 0.f;
_state = KinematicState::kUnknown;
}
void RangeFinderConsistencyCheck::update(const float z, const float z_var, const float vz, const float vz_var,

2
src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
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@ -57,7 +57,7 @@ public:
float getTestRatioLpf() const { return _initialized ? _test_ratio_lpf.getState() : 0.f; }
float getInnov() const { return _initialized ? _innov : 0.f; }
float getInnovVar() const { return _initialized ? _innov_var : 0.f; }
bool isKinematicallyConsistent() const { return _state == KinematicState::kConsistent && _t_since_first_sample > _kTestRatioLpfTimeConstant; }
bool isKinematicallyConsistent() const { return _state == KinematicState::kConsistent; }
bool isNotKinematicallyInconsistent() const { return _state != KinematicState::kInconsistent && (_t_since_first_sample > _kTestRatioLpfTimeConstant || _landed); }
void setGate(const float gate) { _gate = gate; }
void run(float z, float z_var, float vz, float vz_var, float dist_bottom, float dist_bottom_var,