From d04a740bcb01b31153dd4d7e377d47364a210688 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 29 Oct 2014 12:20:43 +1100
Subject: [PATCH] AP_AHRS : Add reset of EKF gyro bias states
---
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 8853a9dfd..60f384e88 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -57,7 +57,8 @@ void AP_AHRS_NavEKF::reset_gyro_drift(void)
// update DCM
AP_AHRS_DCM::reset_gyro_drift();
- // To-Do: add call to do the same on EKF
+ // reset the EKF gyro bias states
+ EKF.resetGyroBias();
}
void AP_AHRS_NavEKF::update(void)
--
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