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ekf2: initialize GPS drift metrics to NAN rather than 0

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Daniel Agar
2022-03-12 12:51:54 -05:00
parent 62d1058cc2
commit 5717434e93
1 changed files with 3 additions and 3 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+3 -3
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@@ -344,9 +344,9 @@ protected:
bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
float _gps_horizontal_position_drift_rate_m_s{0}; // Horizontal position drift rate (m/s) float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s)
float _gps_vertical_position_drift_rate_m_s{0}; // Vertical position drift rate (m/s) float _gps_vertical_position_drift_rate_m_s{NAN}; // Vertical position drift rate (m/s)
float _gps_filtered_horizontal_velocity_m_s{0}; // Filtered horizontal velocity (m/s) float _gps_filtered_horizontal_velocity_m_s{NAN}; // Filtered horizontal velocity (m/s)
uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec) uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec) uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)