fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 05:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: capture velocity reset events

Browse Source
This commit is contained in:
Paul Riseborough
2016-06-01 17:13:00 +10:00
parent 4237269fab
commit e3a1b4a3b3
1 changed files with 7 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+7
View File
@@ -84,6 +84,13 @@ bool Ekf::resetVelocity()
_output_buffer.push_to_index(index,output_states); _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 // Reset position states. If we have a recent and valid