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AP_AHRS: update _dcm_attitude() on reset()

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this prevents the roll/pitch being overwritten by the AHRS_NavEKF
update code on next update
This commit is contained in:
Andrew Tridgell 2015-10-21 08:58:30 +11:00
parent c35605fa04
commit eac91430a2
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -241,6 +241,7 @@ const Vector3f &AP_AHRS_NavEKF::get_accel_ef_blended(void) const
void AP_AHRS_NavEKF::reset(bool recover_eulers) void AP_AHRS_NavEKF::reset(bool recover_eulers)
{ {
AP_AHRS_DCM::reset(recover_eulers); AP_AHRS_DCM::reset(recover_eulers);
_dcm_attitude(roll, pitch, yaw);
if (ekf1_started) { if (ekf1_started) {
ekf1_started = EKF1.InitialiseFilterBootstrap(); ekf1_started = EKF1.InitialiseFilterBootstrap();
} }
@ -253,6 +254,7 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
{ {
AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw); AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
_dcm_attitude(roll, pitch, yaw);
if (ekf1_started) { if (ekf1_started) {
ekf1_started = EKF1.InitialiseFilterBootstrap(); ekf1_started = EKF1.InitialiseFilterBootstrap();
} }