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AP_NavEKF: Modify initial values to make startup behaviour more consistent

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priseborough 2014-12-22 08:12:21 +11:00 committed by Randy Mackay
parent a63af34d8f
commit 5d1de79f08
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4340,21 +4340,21 @@ void NavEKF::ZeroVariables()
lastHealthyMagTime_ms = imuSampleTime_ms; lastHealthyMagTime_ms = imuSampleTime_ms;
TASmsecPrev = imuSampleTime_ms; TASmsecPrev = imuSampleTime_ms;
BETAmsecPrev = imuSampleTime_ms; BETAmsecPrev = imuSampleTime_ms;
lastMagUpdate = imuSampleTime_ms; lastMagUpdate = 0;
lastHgtMeasTime = imuSampleTime_ms; lastHgtMeasTime = imuSampleTime_ms;
lastHgtTime_ms = imuSampleTime_ms; lastHgtTime_ms = 0;
lastAirspeedUpdate = imuSampleTime_ms; lastAirspeedUpdate = 0;
velFailTime = imuSampleTime_ms; velFailTime = imuSampleTime_ms;
posFailTime = imuSampleTime_ms; posFailTime = imuSampleTime_ms;
hgtFailTime = imuSampleTime_ms; hgtFailTime = imuSampleTime_ms;
tasFailTime = imuSampleTime_ms; tasFailTime = imuSampleTime_ms;
lastStateStoreTime_ms = imuSampleTime_ms; lastStateStoreTime_ms = imuSampleTime_ms;
lastFixTime_ms = imuSampleTime_ms; lastFixTime_ms = 0;
secondLastFixTime_ms = imuSampleTime_ms; secondLastFixTime_ms = 0;
lastDecayTime_ms = imuSampleTime_ms; lastDecayTime_ms = imuSampleTime_ms;
timeAtLastAuxEKF_ms = imuSampleTime_ms; timeAtLastAuxEKF_ms = imuSampleTime_ms;
flowValidMeaTime_ms = imuSampleTime_ms; flowValidMeaTime_ms = imuSampleTime_ms;
flowMeaTime_ms = imuSampleTime_ms; flowMeaTime_ms = 0;
prevFlowFusionTime_ms = imuSampleTime_ms; prevFlowFusionTime_ms = imuSampleTime_ms;
rngMeaTime_ms = imuSampleTime_ms; rngMeaTime_ms = imuSampleTime_ms;
ekfStartTime_ms = imuSampleTime_ms; ekfStartTime_ms = imuSampleTime_ms;