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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 03:39:43 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 03:39:43 +0200 |
| commit | 9c5dbeef3a8c9024d710e95dcce3d877ba357656 (patch) | |
| tree | f8d6a48e3c70b4d680d99549173d795a81aca2a8 /src/modules/ekf_att_pos_estimator/estimator.cpp | |
| parent | fd34a8432e6602a45155124b933ed2c2ce7f691c (diff) | |
| download | px4-firmware-9c5dbeef3a8c9024d710e95dcce3d877ba357656.tar.gz px4-firmware-9c5dbeef3a8c9024d710e95dcce3d877ba357656.tar.bz2 px4-firmware-9c5dbeef3a8c9024d710e95dcce3d877ba357656.zip | |
Proper zero init of the filter
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index ebe30cae0..94fb31457 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2711,6 +2711,8 @@ void AttPosEKF::ZeroVariables() states[i] = 0.0f; // state matrix } + correctedDelAng.zero(); + for (unsigned i = 0; i < data_buffer_size; i++) { for (unsigned j = 0; j < n_states; j++) { |