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/**
 * @file ekf_helper.cpp
 * Definition of ekf helper functions.
 *
 * @author Roman Bast <bapstroman@gmail.com>
 *
 */

#include "ekf.h"

void Ekf::resetVelocity()
{
	// if we have a valid GPS measurement use it to initialise velocity states
	gpsSample gps_newest = _gps_buffer.get_newest();

	if (_time_last_imu - gps_newest.time_us < 100000) {
		_state.vel = gps_newest.vel;

	} else {
		_state.vel.setZero();
	}
}

void Ekf::resetPosition()
{
	// if we have a valid GPS measurement use it to initialise position states
	gpsSample gps_newest = _gps_buffer.get_newest();

	if (_time_last_imu - gps_newest.time_us < 100000) {
		_state.pos(0) = gps_newest.pos(0);
		_state.pos(1) = gps_newest.pos(1);

	} else {
		// XXX use the value of the last known position
	}

	baroSample baro_newest = _baro_buffer.get_newest();
	_state.pos(2) = baro_newest.hgt;
}