Cannot differentiate between startup and gyro error due to 'initialising' flag behavior

[sylque]

The documentation suggests that initialising should be true only at startup, while angularRateRecovery indicates when angular rate recovery is active.

In reality, however, initialising is true not only at startup but also whenever angularRateRecovery is true. In other words, after startup, initialising and angularRateRecovery represent the same condition.

This overlap makes it difficult to distinguish between startup and gyro error states.

If this is the intended behavior, the documentation may need clarification.

[xioTechnologies]

Angular rate recovery triggers reinitialisation. The algorithm will also reinitialise anytime FusionAhrsReset is called. This is by design. We will review the documentation for clarity on this point.

It sounds like you want a flag that indicates when the algorithm is initialising for the first time in the application's lifetime. You would need to implement your own logic for a flag that is is the same value as the initialising flag until the initialising flag transitions from true to false for the first time. Your flag would then need to remain false for the remaining lifetime of the application.

[sylque]

Thanks, sounds good