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AP_NavEKF3: Reset states when falling back into non aiding mode.

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This commit is contained in:
Paul Riseborough 2020-12-12 10:52:01 +11:00 committed by Andrew Tridgell
parent b92eca7b66
commit ddadc45854
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -217,6 +217,9 @@ void NavEKF3_core::setAidingMode()
PV_AidingMode = AID_NONE;
yawAlignComplete = false;
finalInflightYawInit = false;
ResetVelocity(resetDataSource::DEFAULT);
ResetPosition(resetDataSource::DEFAULT);
ResetHeight();
}
// Determine if we should change aiding mode