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AP_AHRS : EKF initialisation changed to use bootstrap method

This commit is contained in:
Paul Riseborough 2014-01-31 09:29:20 +11:00 committed by Andrew Tridgell
parent 401e3aee43
commit 0599817aa9
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -59,7 +59,7 @@ void AP_AHRS_NavEKF::update(void)
} }
if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) { if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
ekf_started = true; ekf_started = true;
EKF.InitialiseFilter(); EKF.InitialiseFilterBootstrap();
} }
} }
} }
@ -85,7 +85,7 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
{ {
AP_AHRS_DCM::reset(recover_eulers); AP_AHRS_DCM::reset(recover_eulers);
if (ekf_started) { if (ekf_started) {
EKF.InitialiseFilter(); EKF.InitialiseFilterBootstrap();
} }
} }
@ -100,7 +100,7 @@ void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, con
{ {
AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw); AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
if (ekf_started) { if (ekf_started) {
EKF.InitialiseFilter(); EKF.InitialiseFilterBootstrap();
} }
} }