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AP_NavEKF2: initialize stateStruct.quat to unit length

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Josh Henderson 2021-07-09 00:01:32 -04:00 committed by Peter Barker
parent 9b74452270
commit 9a274ba565
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -238,6 +238,7 @@ void NavEKF2_core::InitialiseVariables()
runUpdates = false; runUpdates = false;
framesSincePredict = 0; framesSincePredict = 0;
gpsYawResetRequest = false; gpsYawResetRequest = false;
stateStruct.quat.initialise();
quatAtLastMagReset = stateStruct.quat; quatAtLastMagReset = stateStruct.quat;
delAngBiasLearned = false; delAngBiasLearned = false;
memset(&filterStatus, 0, sizeof(filterStatus)); memset(&filterStatus, 0, sizeof(filterStatus));