From 9cdc932ad805978eda3173258af5fcd936fcac33 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Mon, 13 Mar 2023 15:36:46 +0100
Subject: [PATCH] also reset propagatedQuaternion

---
 mission/controller/acs/MultiplicativeKalmanFilter.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index 77a3ef00..2ada8ab1 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -1089,6 +1089,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
   double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                         {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
   std::memcpy(initialQuaternion, resetQuaternion, 4 * sizeof(double));
+  std::memcpy(propagatedQuaternion, resetQuaternion, 4 * sizeof(double));
   std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
   updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
   return MEKF_UNINITIALIZED;