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[modules] EKF2 fixed initialization warning (#3262)

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Tomaso Maria Luigi De Ponti
2024-04-09 13:36:33 +02:00
committed by GitHub
parent afa93784ed
commit 6fb37f8b00
1 changed files with 4 additions and 1 deletions
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sw/airborne/modules/ins/ins_ekf2.cpp
+4 -1
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@@ -301,7 +301,7 @@ static void ins_ekf2_publish_attitude(uint32_t stamp);
static Ekf ekf; ///< EKF class itself
static parameters *ekf_params; ///< The EKF parameters
struct ekf2_t ekf2; ///< Local EKF2 status structure
static struct extVisionSample sample_ev = {0}; ///< External vision sample
static struct extVisionSample sample_ev; ///< External vision sample
#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
@@ -576,6 +576,9 @@ void ins_ekf2_init(void)
/* Initialize the flow sensor limits */
ekf.set_optical_flow_limits(INS_EKF2_MAX_FLOW_RATE, INS_EKF2_SONAR_MIN_RANGE, INS_EKF2_SONAR_MAX_RANGE);
// Don't send external vision data by default
sample_ev.time_us = 0;
/* Initialize the origin from flight plan */
#if USE_INS_NAV_INIT
if(ekf.setEkfGlobalOrigin(NAV_LAT0*1e-7, NAV_LON0*1e-7, (NAV_ALT0)*1e-3)) // EKF2 works HMSL