diff options
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index f33a1d780..3da92b264 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -2280,7 +2280,7 @@ float AttPosEKF::ConstrainFloat(float val, float min, float max) } if (!isfinite(val)) { - ekf_debug("constrain: non-finite!"); + //ekf_debug("constrain: non-finite!"); } return ret; @@ -2920,6 +2920,8 @@ void AttPosEKF::ZeroVariables() correctedDelAng.zero(); summedDelAng.zero(); summedDelVel.zero(); + dAngIMU.zero(); + dVelIMU.zero(); lastGyroOffset.zero(); for (unsigned i = 0; i < data_buffer_size; i++) { |