1 files changed, 12 insertions, 4 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
index 1320b4668..15dbd0597 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -145,7 +145,7 @@ AttPosEKF::AttPosEKF()
      * instead to allow clean in-air re-initialization.
      */
 {
-
+    memset(&last_ekf_error, 0, sizeof(last_ekf_error));
     ZeroVariables();
     InitialiseParameters();
 }
@@ -2382,7 +2382,7 @@ int AttPosEKF::CheckAndBound()
 
     // Reset the filter if the IMU data is too old
     if (dtIMU > 0.3f) {
-
+        FillErrorReport(&last_ekf_error);
         ResetVelocity();
         ResetPosition();
         ResetHeight();
@@ -2397,6 +2397,7 @@ int AttPosEKF::CheckAndBound()
 
     // Check if we switched between states
     if (currStaticMode != staticMode) {
+        FillErrorReport(&last_ekf_error);
         ResetVelocity();
         ResetPosition();
         ResetHeight();
@@ -2405,6 +2406,15 @@ int AttPosEKF::CheckAndBound()
         return 3;
     }
 
+    // Reset the filter if gyro offsets are excessive
+    if (fabs(states[10]) > 1.0f || fabsf(states[11]) > 1.0f || fabsf(states[12]) > 1.0f) {
+        
+        InitializeDynamic(velNED, magDeclination);
+
+        // that's all we can do here, return
+        return 4;
+    }
+
     return 0;
 }
 
@@ -2531,8 +2541,6 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do
     // the baro offset must be this difference now
     baroHgtOffset = baroHgt - referenceHgt;
 
-    memset(&last_ekf_error, 0, sizeof(last_ekf_error));
-
     InitializeDynamic(initvelNED, declination);
 }