IMU
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Diff: IMUfilter.cpp
- Revision:
- 1:8a920397b510
- Parent:
- 0:976ab2e4e4bd
--- a/IMUfilter.cpp Mon Sep 06 13:54:41 2010 +0000 +++ b/IMUfilter.cpp Mon Sep 06 14:18:33 2010 +0000 @@ -208,3 +208,21 @@ return psi; } + +void IMUfilter::reset(void) { + + firstUpdate = 0; + + //Quaternion orientation of earth frame relative to auxiliary frame. + AEq_1 = 1; + AEq_2 = 0; + AEq_3 = 0; + AEq_4 = 0; + + //Estimated orientation quaternion elements with initial conditions. + SEq_1 = 1; + SEq_2 = 0; + SEq_3 = 0; + SEq_4 = 0; + +}