reset

Reset internal states for insfilterMARG

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Syntax

reset(FUSE)

Description

reset(FUSE) resets the State, StateCovariance, and internal integrators to their default values.

example

Examples

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Reset State of insfilterMARG

Open Live Script

Create an insfilterMARG object and set its sample rate to 10 Hz.

filter = insfilterMARG(IMUSampleRate=10);

Predict the state of the filter based on an accelerometer reading of [1 1 1] $m / s^{2}$ and a gyroscope reading of [1 1 0] rad/s. Display the filter state.

predict(filter,[1 1 1],[1 1 0]);
disp(filter.State')

    0.9994    0.0250    0.0250         0         0         0         0   -0.0500   -0.0500    0.4405         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0

Reset and display the filter state.

reset(filter)
disp(filter.State')

    1.0000         0         0         0         0         0         0         0         0         0         0         0         0         0         0         0   27.5550   -2.4169  -16.0849         0         0         0