AP_NavEKF2: initialize stateStruct.quat to unit length

2021-07-09 00:01:32 -04:00 · 2021-07-09 00:01:32 -04:00 · 9a274ba565
commit 9a274ba565
parent 9b74452270
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
@ -238,6 +238,7 @@ void NavEKF2_core::InitialiseVariables()
    runUpdates = false;
    framesSincePredict = 0;
    gpsYawResetRequest = false;
+    stateStruct.quat.initialise();
    quatAtLastMagReset = stateStruct.quat;
    delAngBiasLearned = false;
    memset(&filterStatus, 0, sizeof(filterStatus));