reset the newest output sample for all possible resets

Signed-off-by: Roman <bapstroman@gmail.com>
2026-10-21 17:53:34 +08:00 · 2016-10-12 08:54:38 +02:00
parent 238d947239
commit f80b3481a4
2 changed files with 18 additions and 0 deletions
@@ -153,6 +153,10 @@ void Ekf::controlExternalVisionFusion()
 					_output_buffer.push_to_index(i,output_states);
 				}

+				// apply the change in attitude quaternion to our newest quaternion estimate
+				// which was already taken out from the output buffer
+				_output_new.quat_nominal *= _state_reset_status.quat_change;
+
 				// capture the reset event
 				_state_reset_status.quat_counter++;