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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 12:07:59 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 12:07:59 +0200 |
| commit | 92cc44fe1e09f426087e91fff88effde04b32c5d (patch) | |
| tree | 0f5d3d9c8b8023a831c4f1e6eff53c15a645adee /src/modules/ekf_att_pos_estimator | |
| parent | bcca3cae748ffea2df51907992e4a3c7ca673fd2 (diff) | |
| download | px4-firmware-92cc44fe1e09f426087e91fff88effde04b32c5d.tar.gz px4-firmware-92cc44fe1e09f426087e91fff88effde04b32c5d.tar.bz2 px4-firmware-92cc44fe1e09f426087e91fff88effde04b32c5d.zip | |
avoid changing the reset logic
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index b7e118d47..8fdc40d41 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -1221,7 +1221,12 @@ FixedwingEstimator::task_main() // We're apparently initialized in this case now // check (and reset the filter as needed) - (void)check_filter_state(); + int check = check_filter_state(); + + if (check) { + // Let the system re-initialize itself + continue; + } // Run the strapdown INS equations every IMU update _ekf->UpdateStrapdownEquationsNED(); |