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EKF: Set initial optical flow fusion monitor outputs to zero

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This commit is contained in:
Paul Riseborough
2016-03-08 13:28:45 +11:00
parent 5acd1cbac4
commit ffebaf384f
1 changed files with 3 additions and 1 deletions
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EKF/ekf.cpp
+3 -1
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@@ -86,8 +86,10 @@ Ekf::Ekf():
_R_prev = matrix::Dcm<float>();
memset(_vel_pos_innov, 0, sizeof(_vel_pos_innov));
memset(_mag_innov, 0, sizeof(_mag_innov));
memset(_flow_innov, 0, sizeof(_flow_innov));
memset(_vel_pos_innov_var, 0, sizeof(_vel_pos_innov_var));
memset(_mag_innov_var, 0, sizeof(_mag_innov_var));
memset(_flow_innov_var, 0, sizeof(_flow_innov_var));
_delta_angle_corr.setZero();
_delta_vel_corr.setZero();
_vel_corr.setZero();
@@ -97,7 +99,7 @@ Ekf::Ekf():
_mag_sum = {};
_delVel_sum = {};
_flow_gyro_bias = {};
_imu_del_ang_of = {};
_imu_del_ang_of = {};
}
Ekf::~Ekf()