reset

Reset internal states for insfilterErrorState

Syntax

reset(FUSE)

Description

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

example

Examples

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Reset State of `insfilterErrorState`

Open Live Script

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

filter = insfilterErrorState(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')

    0.9975    0.0499    0.0499         0         0         0         0   -0.1000   -0.1000    0.8810         0         0         0         0         0         0    1.0000

Reset and display the filter state.

reset(filter)
disp(filter.State')

     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0     1

Input Arguments

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`FUSE` — INS filter object
`insfilterErrorState`

insfilterErrorState, specified as an object.

Extended Capabilities

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C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019a