From 9cb59e33a6da2bcd2bb49bc3d49ce527597582f9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 31 Jan 2014 17:43:49 +0100
Subject: [PATCH] Initializing variables

---
 .../fw_att_pos_estimator/fw_att_pos_estimator_main.cpp     | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 10f7d42acd..3ed8163455 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -392,8 +392,6 @@ FixedwingEstimator::task_main()
 
 	parameters_update();
 
-	Vector3f lastAngRate;
-	Vector3f lastAccel;
 	/* set initial filter state */
 	fuseVelData = false;
 	fusePosData = false;
@@ -402,6 +400,11 @@ FixedwingEstimator::task_main()
 	fuseVtasData = false;
 	statesInitialised = false;
 
+	/* initialize measurement data */
+	VtasMeas = 0.0f;
+	Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
+	Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
+
 	/* wakeup source(s) */
 	struct pollfd fds[2];