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AP_NavEKF3: fixed use of uninitialised variable in EKF3 mag fusion

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not all elements of H_MAG are initialised, but they are used, as found
by valgrind
This commit is contained in:
Andrew Tridgell 2019-09-21 11:38:33 +10:00
parent 3084a15221
commit 372eca7dad
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -506,6 +506,8 @@ void NavEKF3_core::FuseMagnetometer()
H_MAG[17] = 2.0f*q0*q3 + 2.0f*q1*q2;
H_MAG[18] = 2.0f*q1*q3 - 2.0f*q0*q2;
H_MAG[19] = 1.0f;
H_MAG[20] = 0.0f;
H_MAG[21] = 0.0f;
// calculate Kalman gain
SK_MX[0] = 1.0f / varInnovMag[0];
@ -580,7 +582,9 @@ void NavEKF3_core::FuseMagnetometer()
H_MAG[16] = 2.0f*q1*q2 - 2.0f*q0*q3;
H_MAG[17] = SH_MAG[4] - SH_MAG[3] - SH_MAG[5] + SH_MAG[6];
H_MAG[18] = 2.0f*q0*q1 + 2.0f*q2*q3;
H_MAG[19] = 0.0f;
H_MAG[20] = 1.0f;
H_MAG[21] = 0.0f;
// calculate Kalman gain
SK_MY[0] = 1.0f / varInnovMag[1];
@ -656,6 +660,8 @@ void NavEKF3_core::FuseMagnetometer()
H_MAG[16] = 2.0f*q0*q2 + 2.0f*q1*q3;
H_MAG[17] = 2.0f*q2*q3 - 2.0f*q0*q1;
H_MAG[18] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6];
H_MAG[19] = 0.0f;
H_MAG[20] = 0.0f;
H_MAG[21] = 1.0f;
// calculate Kalman gain