eive/eive-obsw
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also reset propagatedQuaternion
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This commit is contained in:
Marius Eggert 2023-03-13 15:36:46 +01:00
parent f5b5fcd7ff
commit 9cdc932ad8
1 changed files with 1 additions and 0 deletions
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mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -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}, 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}}; {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(initialQuaternion, resetQuaternion, 4 * sizeof(double));
std::memcpy(propagatedQuaternion, resetQuaternion, 4 * sizeof(double));
std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double)); std::memcpy(initialCovarianceMatrix, resetCovarianceMatrix, 6 * 6 * sizeof(double));
updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED); updateDataSetWithoutData(mekfData, MekfStatus::UNINITIALIZED);
return MEKF_UNINITIALIZED; return MEKF_UNINITIALIZED;