Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: zero more variables on filter re-init

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -89,6 +89,16 @@ void NavEKF::InitialiseFilter(void)
lastFixTime = 0;
lastMagUpdate = 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
Quaternion initQuat;