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AP_NavEKF: zero more variables on filter re-init

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This commit is contained in:
Andrew Tridgell 2014-01-03 08:31:33 +11:00
parent 11337ab2df
commit a53fc0636a
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -89,6 +89,16 @@ void NavEKF::InitialiseFilter(void)
lastFixTime = 0; lastFixTime = 0;
lastMagUpdate = 0; lastMagUpdate = 0;
lastAirspeedUpdate = 0; lastAirspeedUpdate = 0;
velFailTime = 0;
posFailTime = 0;
hgtFailTime = 0;
storeIndex = 0;
memset(&P[0][0], 0, sizeof(P));
memset(&nextP[0][0], 0, sizeof(nextP));
memset(&processNoise[0], 0, sizeof(processNoise));
memset(&storedStates[0][0], 0, sizeof(storedStates));
memset(&statetimeStamp[0], 0, sizeof(statetimeStamp));
// Calculate initial filter quaternion states from ahrs solution // Calculate initial filter quaternion states from ahrs solution
Quaternion initQuat; Quaternion initQuat;