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AP_AHRS: remove use of uninitialised value

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Peter Barker 2016-12-20 13:42:54 +11:00 committed by Lucas De Marchi
parent 378bd84b29
commit 802206baed
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -650,11 +650,14 @@ bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
case EKF_TYPE3: { case EKF_TYPE3: {
Vector2f posNE; Vector2f posNE;
float posD; float posD;
bool position_is_valid = (EKF3.getPosNE(-1,posNE) && EKF3.getPosD(-1,posD)); if (EKF3.getPosNE(-1,posNE) && EKF3.getPosD(-1,posD)) {
vec.x = posNE.x; // position is valid
vec.y = posNE.y; vec.x = posNE.x;
vec.z = posD; vec.y = posNE.y;
return position_is_valid; vec.z = posD;
return true;
}
return false;
} }
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL