AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero

2021-08-25 22:02:09 +09:00 · 2021-08-25 22:02:09 +09:00 · b524094216
parent ff58054d1b
commit b524094216
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@ -194,6 +194,7 @@ void NavEKF2_core::InitialiseVariables()
    gpsPosAccuracy = 0.0f;
    gpsHgtAccuracy = 0.0f;
    baroHgtOffset = 0.0f;
+    rngOnGnd = 0.05f;
    yawResetAngle = 0.0f;
    lastYawReset_ms = 0;
    tiltErrFilt = 1.0f;