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Ekf initialize all fields

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Daniel Agar
2017-11-26 16:50:16 -05:00
parent ee57908911
commit e3da71c89d
1 changed files with 4 additions and 4 deletions
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EKF/ekf.h
+4 -4
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@@ -265,8 +265,8 @@ private:
bool _fuse_vert_vel{false}; ///< true when gps vertical velocity measurement should be fused
bool _fuse_hor_vel_aux{false}; ///< true when auxiliary horizontal velocity measurement should be fused
float _posObsNoiseNE; ///< 1-STD observtion noise used for the fusion of NE position data (m)
float _posInnovGateNE; ///< Number of standard deviations used for the NE position fusion innovation consistency check
float _posObsNoiseNE{0.0f}; ///< 1-STD observtion noise used for the fusion of NE position data (m)
float _posInnovGateNE{0.0f}; ///< Number of standard deviations used for the NE position fusion innovation consistency check
Vector2f _velObsVarNE; ///< 1-STD observation noise variance used for the fusion of NE velocity data (m/sec)**2
float _hvelInnovGate; ///< Number of standard deviations used for the horizontal velocity fusion innovation consistency check
@@ -405,7 +405,7 @@ private:
float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2)
float _hagl_innov{0.0f}; ///< innovation of the last height above terrain measurement (m)
float _hagl_innov_var{0.0f}; ///< innovation variance for the last height above terrain measurement (m**2)
uint64_t _time_last_hagl_fuse; ///< last system time that the hagl measurement failed it's checks (uSec)
uint64_t _time_last_hagl_fuse{0}; ///< last system time that the hagl measurement failed it's checks (uSec)
bool _terrain_initialised{false}; ///< true when the terrain estimator has been intialised
float _sin_tilt_rng{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis
float _cos_tilt_rng{0.0f}; ///< cosine of the range finder tilt rotation about the Y body axis
@@ -425,7 +425,7 @@ private:
bool _bad_vert_accel_detected{false}; ///< true when bad vertical accelerometer data has been detected
// variables used to control range aid functionality
bool _in_range_aid_mode; ///< true when range finder is to be used as the height reference instead of the primary height sensor
bool _in_range_aid_mode{false}; ///< true when range finder is to be used as the height reference instead of the primary height sensor
// variables used to check for "stuck" rng data
bool _rng_stuck{false}; ///< true when rng data wasn't ready for more than 10s and new rng values haven't changed enough