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terrain est: clear innovation/var/test ration when aiding stops

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This commit is contained in:
bresch
2022-06-03 17:31:14 -04:00
committed by Daniel Agar
parent fad3d46907
commit e2955bdd61
1 changed files with 8 additions and 0 deletions
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src/modules/ekf2/EKF/terrain_estimator.cpp
+8
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@@ -194,6 +194,10 @@ void Ekf::resetHaglRng()
void Ekf::stopHaglRngFusion() void Ekf::stopHaglRngFusion()
{ {
_hagl_sensor_status.flags.range_finder = false; _hagl_sensor_status.flags.range_finder = false;
_hagl_innov = 0.f;
_hagl_innov_var = 0.f;
_hagl_test_ratio = 0.f;
_innov_check_fail_status.flags.reject_hagl = false;
} }
void Ekf::fuseHaglRng() void Ekf::fuseHaglRng()
@@ -290,6 +294,10 @@ void Ekf::startHaglFlowFusion()
void Ekf::stopHaglFlowFusion() void Ekf::stopHaglFlowFusion()
{ {
_hagl_sensor_status.flags.flow = false; _hagl_sensor_status.flags.flow = false;
_hagl_innov = 0.f;
_hagl_innov_var = 0.f;
_hagl_test_ratio = 0.f;
_innov_check_fail_status.flags.reject_hagl = false;
} }
void Ekf::resetHaglFlow() void Ekf::resetHaglFlow()