From 9c1b4e2332732aad330e603b196e00cd4f78cbe0 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 24 Sep 2014 14:19:55 +1000
Subject: [PATCH] AP_NavEKF : Explicitly initialise gpsNoiseScaler to default
 value

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

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 9b43a7ce32..9614bf3dd6 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3385,6 +3385,7 @@ void NavEKF::ZeroVariables()
     secondLastFixTime_ms = imuSampleTime_ms;
     lastDecayTime_ms = imuSampleTime_ms;
 
+    gpsNoiseScaler = 1.0f;
     velTimeout = false;
     posTimeout = false;
     hgtTimeout = false;