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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 11:41:40 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 11:41:40 +0200 |
commit | 0745334ac46c40ed407dc11ebbb7c252e37bcb43 (patch) | |
tree | 868b8bc90adb731162cc6594a7568fd7e3573634 | |
parent | 125f0b2f88c390bfde92ebe5423a0913e0e1b114 (diff) | |
download | px4-firmware-0745334ac46c40ed407dc11ebbb7c252e37bcb43.tar.gz px4-firmware-0745334ac46c40ed407dc11ebbb7c252e37bcb43.tar.bz2 px4-firmware-0745334ac46c40ed407dc11ebbb7c252e37bcb43.zip |
Reset init flags as well
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 14761831c..6eccc4c4d 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2407,6 +2407,19 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) // Clear the init flag statesInitialised = false; + // Clear other flags, waiting for new data + fusionModeGPS = 0; + fuseVelData = false; + fusePosData = false; + fuseHgtData = false; + fuseMagData = false; + fuseVtasData = false; + // onGround(true), + // staticMode(true), + useAirspeed = true; + useCompass = true; + useRangeFinder = true; + ZeroVariables(); // Calculate initial filter quaternion states from raw measurements |