diff options
-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 |