Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: remove use of uninitialised value

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -650,11 +650,14 @@ bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
case EKF_TYPE3: {
Vector2f posNE;
float posD;
bool position_is_valid = (EKF3.getPosNE(-1,posNE) && EKF3.getPosD(-1,posD));
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return position_is_valid;
if (EKF3.getPosNE(-1,posNE) && EKF3.getPosD(-1,posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
vec.z = posD;
return true;
}
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL