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EKF: Ensure filter control modes are correctly initialised

This commit is contained in:
Paul Riseborough 2016-03-16 17:22:27 +11:00
parent 9f3b1351f7
commit c23d72ba29
1 changed files with 3 additions and 2 deletions
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5
EKF/ekf.cpp
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@ -84,8 +84,6 @@ Ekf::Ekf():
_rng_hgt_faulty(false), _rng_hgt_faulty(false),
_baro_hgt_offset(0.0f) _baro_hgt_offset(0.0f)
{ {
_control_status = {};
_control_status_prev = {};
_state = {}; _state = {};
_last_known_posNE.setZero(); _last_known_posNE.setZero();
_earth_rate_NED.setZero(); _earth_rate_NED.setZero();
@ -156,6 +154,9 @@ bool Ekf::init(uint64_t timestamp)
_filter_initialised = false; _filter_initialised = false;
_terrain_initialised = false; _terrain_initialised = false;
_control_status.value = 0;
_control_status_prev.value = 0;
return ret; return ret;
} }