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AP_NavEKF: Prevent front-end from returning uninitialised data (garbage)

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This commit is contained in:
Paul Riseborough 2015-11-09 15:56:45 +11:00
parent 840c9e65bb
commit e8305c5653
1 changed files with 20 additions and 0 deletions
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20
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -552,6 +552,9 @@ void NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScal
{ {
if (core) { if (core) {
core->getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); core->getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
} else {
ekfGndSpdLimit = 0;
ekfNavVelGainScaler = 0;
} }
} }
@ -675,6 +678,8 @@ void NavEKF::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &ma
{ {
if (core) { if (core) {
core->getInnovations(velInnov, posInnov, magInnov, tasInnov); core->getInnovations(velInnov, posInnov, magInnov, tasInnov);
} else {
tasInnov = 0;
} }
} }
@ -683,6 +688,11 @@ void NavEKF::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f
{ {
if (core) { if (core) {
core->getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset); core->getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
} else {
velVar = 0;
posVar = 0;
hgtVar = 0;
tasVar = 0;
} }
} }
@ -715,6 +725,16 @@ void NavEKF::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, f
{ {
if (core) { if (core) {
core->getFlowDebug(varFlow, gndOffset, flowInnovX, flowInnovY, auxInnov, HAGL, rngInnov, range, gndOffsetErr); core->getFlowDebug(varFlow, gndOffset, flowInnovX, flowInnovY, auxInnov, HAGL, rngInnov, range, gndOffsetErr);
} else {
varFlow = 0;
gndOffset = 0;
flowInnovX = 0;
flowInnovY = 0;
auxInnov = 0;
HAGL = 0;
rngInnov = 0;
range = 0;
gndOffsetErr = 0;
} }
} }