From 67eb6d17ebc56904e40142f4c759134fcb9d158f Mon Sep 17 00:00:00 2001
From: Josh Henderson <hendjoshsr71@gmail.com>
Date: Fri, 9 Jul 2021 00:02:13 -0400
Subject: [PATCH] AP_NavEKF3: initialize stateStruct.quat to unit length

---
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index bd7bd9f961..e0f19e58ce 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -465,6 +465,7 @@ void NavEKF3_core::InitialiseVariablesMag()
     magYawResetRequest = false;
     posDownAtLastMagReset = stateStruct.position.z;
     yawInnovAtLastMagReset = 0.0f;
+    stateStruct.quat.initialise();
     quatAtLastMagReset = stateStruct.quat;
     magFieldLearned = false;
     storedMag.reset();