From 0700a4f6b823b77ad7b343c641ec8fb34f130173 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sun, 15 Jun 2014 14:46:30 +0200
Subject: [PATCH] att pos estimator: correctly initialize fusionModeGPS
 variable, this makes the system use gps again and hence fixes the huge drift
 problems

---
 src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 45790063f0..d364facadc 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -14,6 +14,7 @@ AttPosEKF::AttPosEKF()
     summedDelAng.zero();
     summedDelVel.zero();
 
+    fusionModeGPS = 0;
     fuseVelData = false;
     fusePosData = false;
     fuseHgtData = false;