att_pos_estimator_ekf: fixes, mathlib: minor changes

4 files changed, 34 insertions, 10 deletions

diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index 31b03b54b..7ed8879a7 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -241,19 +241,28 @@ public:
 	}
 
 	/**
-	 * setup the identity matrix
+	 * set zero matrix
+	 */
+	void zero(void) {
+		memset(data, 0, sizeof(data));
+	}
+
+	/**
+	 * set identity matrix
 	 */
 	void identity(void) {
 		memset(data, 0, sizeof(data));
-		for (unsigned int i = 0; i < M; i++)
+		unsigned int n = (M < N) ? M : N;
+		for (unsigned int i = 0; i < n; i++)
 			data[i][i] = 1;
 	}
 
 	void print(void) {
  		for (unsigned int i = 0; i < M; i++) {
+			printf("[ ");
  			for (unsigned int j = 0; j < N; j++)
 				printf("%.3f\t", data[i][j]);
-			printf("\n");
+			printf(" ]\n");
 		}
 	}
 };
diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp
index c865bab42..744402e21 100644
--- a/src/lib/mathlib/math/Vector.hpp
+++ b/src/lib/mathlib/math/Vector.hpp
@@ -259,6 +259,13 @@ public:
 		return *this / length();
 	}
 
+	/**
+	 * set zero vector
+	 */
+	void zero(void) {
+		memset(data, 0, sizeof(data));
+	}
+
 	void print(void) {
 		printf("[ ");
  		for (unsigned int i = 0; i < N; i++)
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 4ab41c6ce..9d3ef07f2 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -97,6 +97,14 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 {
 	using namespace math;
 
+	F.zero();
+	G.zero();
+	V.zero();
+	HAtt.zero();
+	RAtt.zero();
+	HPos.zero();
+	RPos.zero();
+
 	// initial state covariance matrix
 	P0.identity();
 	P0 *= 0.01f;
@@ -214,8 +222,8 @@ void KalmanNav::update()
 		if (correctAtt() == ret_ok) _attitudeInitCounter++;
 
 		if (_attitudeInitCounter > 100) {
-			warnx("initialized EKF attitude\n");
-			warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
+			warnx("initialized EKF attitude");
+			warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f",
 			       double(phi), double(theta), double(psi));
 			_attitudeInitialized = true;
 		}
@@ -245,8 +253,8 @@ void KalmanNav::update()
 		// lat/lon and not have init
 		map_projection_init(lat0, lon0);
 		_positionInitialized = true;
-		warnx("initialized EKF state with GPS\n");
-		warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
+		warnx("initialized EKF state with GPS");
+		warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
 		       double(vN), double(vE), double(vD),
 		       lat, lon, double(alt));
 	}
@@ -625,7 +633,7 @@ int KalmanNav::correctAtt()
 
 		if (isnan(val) || isinf(val)) {
 			// abort correction and return
-			warnx("numerical failure in att correction\n");
+			warnx("numerical failure in att correction");
 			// reset P matrix to P0
 			P = P0;
 			return ret_error;
@@ -691,7 +699,7 @@ int KalmanNav::correctPos()
 
 		if (!isfinite(val)) {
 			// abort correction and return
-			warnx("numerical failure in gps correction\n");
+			warnx("numerical failure in gps correction");
 			// fallback to GPS
 			vN = _gps.vel_n_m_s;
 			vE = _gps.vel_e_m_s;
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 372b2d162..70ba628f3 100644
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -107,7 +107,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 30,
-					 4096,
+					 8096,
 					 kalman_demo_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);