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| author | zefz <zefzsoftwares@hotmail.com> | 2015-03-11 12:47:11 +0100 |
|---|---|---|
| committer | zefz <zefzsoftwares@hotmail.com> | 2015-03-11 12:47:11 +0100 |
| commit | 588edd794dea5fb0e4361a7bb8b79344552df5c6 (patch) | |
| tree | b336476f7a87e3e5bf24258e493517d6565ff344 /src/modules/ekf_att_pos_estimator/estimator_22states.h | |
| parent | 86970eead7919193a62022e9a9f0efe05d660dc6 (diff) | |
| download | px4-firmware-588edd794dea5fb0e4361a7bb8b79344552df5c6.tar.gz px4-firmware-588edd794dea5fb0e4361a7bb8b79344552df5c6.tar.bz2 px4-firmware-588edd794dea5fb0e4361a7bb8b79344552df5c6.zip | |
AttPosEKF: Reset covariance calculation on state reset
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.h')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.h | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.h b/src/modules/ekf_att_pos_estimator/estimator_22states.h index c5517e38b..89cf96245 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.h @@ -362,8 +362,6 @@ public: */ void ResetVelocity(); - void ZeroVariables(); - void GetFilterState(struct ekf_status_report *state); void GetLastErrorState(struct ekf_status_report *last_error); @@ -410,6 +408,12 @@ protected: void ResetStoredStates(); + /** + * @brief + * Reset internal filter states and clear all variables to zero value + */ + void ZeroVariables(); + private: bool _isFixedWing; ///< True if the vehicle is a fixed-wing frame type bool _onGround; ///< boolean true when the flight vehicle is on the ground (not flying) |