From 9c5dbeef3a8c9024d710e95dcce3d877ba357656 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 20 Apr 2014 03:39:43 +0200 Subject: Proper zero init of the filter --- src/modules/ekf_att_pos_estimator/estimator.cpp | 2 ++ 1 file changed, 2 insertions(+) (limited to 'src/modules/ekf_att_pos_estimator/estimator.cpp') diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index ebe30cae0..94fb31457 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2711,6 +2711,8 @@ void AttPosEKF::ZeroVariables() states[i] = 0.0f; // state matrix } + correctedDelAng.zero(); + for (unsigned i = 0; i < data_buffer_size; i++) { for (unsigned j = 0; j < n_states; j++) { -- cgit v1.2.3