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AP_NavEKF3: initialize stateStruct.quat to unit length

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Josh Henderson 2021-07-09 00:02:13 -04:00 committed by Peter Barker
parent 9a274ba565
commit 67eb6d17eb
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -465,6 +465,7 @@ void NavEKF3_core::InitialiseVariablesMag()
magYawResetRequest = false; magYawResetRequest = false;
posDownAtLastMagReset = stateStruct.position.z; posDownAtLastMagReset = stateStruct.position.z;
yawInnovAtLastMagReset = 0.0f; yawInnovAtLastMagReset = 0.0f;
stateStruct.quat.initialise();
quatAtLastMagReset = stateStruct.quat; quatAtLastMagReset = stateStruct.quat;
magFieldLearned = false; magFieldLearned = false;
storedMag.reset(); storedMag.reset();