|
|
|
@ -42,7 +42,7 @@ SoloGimbalEKF::SoloGimbalEKF(const AP_AHRS_NavEKF &ahrs) :
@@ -42,7 +42,7 @@ SoloGimbalEKF::SoloGimbalEKF(const AP_AHRS_NavEKF &ahrs) :
|
|
|
|
|
void SoloGimbalEKF::reset() |
|
|
|
|
{ |
|
|
|
|
memset(&states,0,sizeof(states)); |
|
|
|
|
memset(&gSense,0,sizeof(gSense)); |
|
|
|
|
memset((void *)&gSense,0,sizeof(gSense)); |
|
|
|
|
memset(&Cov,0,sizeof(Cov)); |
|
|
|
|
TiltCorrection = 0; |
|
|
|
|
StartTime_ms = 0; |
|
|
|
@ -70,7 +70,7 @@ void SoloGimbalEKF::RunEKF(float delta_time, const Vector3f &delta_angles, const
@@ -70,7 +70,7 @@ void SoloGimbalEKF::RunEKF(float delta_time, const Vector3f &delta_angles, const
|
|
|
|
|
FiltInit = false; |
|
|
|
|
newDataMag = false; |
|
|
|
|
YawAligned = false; |
|
|
|
|
memset(&state, 0, sizeof(state)); |
|
|
|
|
memset((void *)&state, 0, sizeof(state)); |
|
|
|
|
state.quat[0] = 1.0f; |
|
|
|
|
|
|
|
|
|
bool main_ekf_healthy = false; |
|
|
|
|