From b5240942164dbdf2da4a5f91270348f012b38453 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 Aug 2021 22:02:09 +0900
Subject: [PATCH] AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero

---
 libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index e53d9cc9d8..d04b0f5313 100644
--- 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;