From 733862f649a9115512e76a9b054e5e56853e2c1f Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 23 May 2016 19:56:25 +1000
Subject: [PATCH] EKF: move the  reset status struct to the Ekf class

This protects it from being modified externally
---
 EKF/ekf.cpp                 |  1 +
 EKF/ekf.h                   | 15 +++++++++++++++
 EKF/estimator_interface.cpp |  1 -
 EKF/estimator_interface.h   | 15 ---------------
 4 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index ffdc8a4814..61d2a57be0 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -128,6 +128,7 @@ Ekf::Ekf():
 	_flow_gyro_bias = {};
 	_imu_del_ang_of = {};
 	_gps_check_fail_status.value = 0;
+	_state_reset_status = {};
 }
 
 Ekf::~Ekf()
diff --git a/EKF/ekf.h b/EKF/ekf.h
index af6ca6f3fc..7de59879b7 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -136,6 +136,21 @@ private:
 	static const float _k_earth_rate;
 	static const float _gravity_mss;
 
+	// reset event monitoring
+	// structure containing velocity, position, height and yaw reset information
+	struct {
+		uint64_t velNE_time_us; // time stamp of the last horizontal velocity reset event (us)
+		uint64_t velD_time_us;	// time stamp of the last vertical velocity reset event (us)
+		uint64_t posNE_time_us; // time stamp of the last horizontal position reset event (us)
+		uint64_t posD_time_us;	// time stamp of the last vertical position reset event (us)
+		uint64_t yaw_time_us;   // time stamp of the last yaw angle reset event (us)
+		Vector2f velNE_change;  // North East velocity change due to last reset (m)
+		float velD_change;	// Down velocity change due to last reset (m/s)
+		Vector2f posNE_change;	// North, East position change due to last reset (m)
+		float posD_change;	// Down position change due to last reset (m)
+		float yaw_change;	// Yaw angle change due to last reset (rad)
+	} _state_reset_status;
+
 	float _dt_ekf_avg;		// average update rate of the ekf
 
 	stateSample _state;		// state struct of the ekf running at the delayed time horizon
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index ada6de492e..7427967785 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -71,7 +71,6 @@ EstimatorInterface::EstimatorInterface():
 	_pos_ref = {};
 	memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio));
 	memset(_vel_pos_test_ratio, 0, sizeof(_vel_pos_test_ratio));
-	_state_reset_status = {};
 }
 
 EstimatorInterface::~EstimatorInterface()
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 9347378857..fc67fe1a9d 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -266,21 +266,6 @@ protected:
 	float _tas_test_ratio;		// tas innovation consistency check ratio
 	innovation_fault_status_u _innov_check_fail_status;
 
-	// reset event monitoring
-	// structure containing velocity, position, height and yaw reset information
-	struct {
-		uint64_t velNE_time_us; // time stamp of the last horizontal velocity reset event (us)
-		uint64_t velD_time_us;	// time stamp of the last vertical velocity reset event (us)
-		uint64_t posNE_time_us; // time stamp of the last horizontal position reset event (us)
-		uint64_t posD_time_us;	// time stamp of the last vertical position reset event (us)
-		uint64_t yaw_time_us;   // time stamp of the last yaw angle reset event (us)
-		Vector2f velNE_change;  // North East velocity change due to last reset (m)
-		float velD_change;	// Down velocity change due to last reset (m/s)
-		Vector2f posNE_change;	// North, East position change due to last reset (m)
-		float posD_change;	// Down position change due to last reset (m)
-		float yaw_change;	// Yaw angle change due to last reset (rad)
-	} _state_reset_status;
-
 	// data buffer instances
 	RingBuffer<imuSample> _imu_buffer;
 	RingBuffer<gpsSample> _gps_buffer;