From f668ea5aa628466e1c49f6142f7eba64d8c1b21f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 2 Feb 2023 10:16:21 -0500
Subject: [PATCH] ekf2: RingBuffer add reset method

---
 src/modules/ekf2/EKF/RingBuffer.h | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/modules/ekf2/EKF/RingBuffer.h b/src/modules/ekf2/EKF/RingBuffer.h
index e11a1f95c2..aeb4471ad5 100644
--- a/src/modules/ekf2/EKF/RingBuffer.h
+++ b/src/modules/ekf2/EKF/RingBuffer.h
@@ -81,10 +81,7 @@ public:
 
 		_size = size;
 
-		_head = 0;
-		_tail = 0;
-
-		_first_write = true;
+		reset();
 
 		return true;
 	}
@@ -171,6 +168,19 @@ public:
 		return count;
 	}
 
+	void reset()
+	{
+		if (_buffer) {
+			for (uint8_t i = 0; i < _size; i++) {
+				_buffer[i] = {};
+			}
+
+			_head = 0;
+			_tail = 0;
+			_first_write = true;
+		}
+	}
+
 private:
 	data_type *_buffer{nullptr};