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EKF: initialize the newest attitude estimate to a valid quaternion

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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CarlOlsson
2019-03-12 19:07:55 +11:00
committed by Paul Riseborough
parent 6cf512f103
commit ea259d358d
1 changed files with 1 additions and 0 deletions
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EKF/ekf.cpp
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@@ -60,6 +60,7 @@ bool Ekf::init(uint64_t timestamp)
_output_new.vel.setZero();
_output_new.pos.setZero();
_output_new.quat_nominal.setZero();
_output_new.quat_nominal(0) = 1.0f;
_delta_angle_corr.setZero();
_imu_down_sampled.delta_ang.setZero();