Prevent estimator tasks from running once at start up #1203
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knmcguire
approved these changes
Jan 25, 2023
krichardsson
changed the title
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The Kalman and the UKF estimators uses tasks to manage the work load. At the top of the task loop there is a semaphore that blocks the task until the stabilizer loop release it. In the current implementation the semaphore is initialized as "non empty" which means that the task will run once when started, even if the estimator is not active. This caused problems after #1194 as the initialization sequence is chganged.
This PR changes the bahvior and prevents the estimator tasks to run until initialized and activated
This