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EKF: capture velocity reset events

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This commit is contained in:
Paul Riseborough 2016-05-23 19:24:42 +10:00
parent 4237269fab
commit e3a1b4a3b3
1 changed files with 7 additions and 0 deletions
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EKF/ekf_helper.cpp
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@ -84,6 +84,13 @@ bool Ekf::resetVelocity()
_output_buffer.push_to_index(index,output_states);
}
// capture the reset event
_state_reset_status.velNE_change(0) = velocity_change(0);
_state_reset_status.velNE_change(1) = velocity_change(1);
_state_reset_status.velD_change = velocity_change(2);
_state_reset_status.velNE_time_us = _imu_sample_delayed.time_us;
_state_reset_status.velD_time_us = _imu_sample_delayed.time_us;
}
// Reset position states. If we have a recent and valid