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[ins] Properly initialize utm0 altitude in ins_alt_float (#3443)
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This commit is contained in:
Jesús Bautista Villar
2025-03-28 10:57:04 +01:00
committed by GitHub
parent 294baad643
commit a7af05cc2f
1 changed files with 2 additions and 1 deletions
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sw/airborne/modules/ins/ins_alt_float.c
+2 -1
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@@ -39,6 +39,7 @@
#include "generated/airframe.h"
#include "generated/modules.h"
#include "generated/flight_plan.h"
#ifdef DEBUG_ALT_KALMAN
#include "mcu_periph/uart.h"
@@ -100,7 +101,7 @@ void ins_alt_float_update_gps(struct GpsState *gps_s);
void ins_alt_float_init(void)
{
#if USE_INS_NAV_INIT
struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, ground_alt, nav_utm_zone0 };
struct UtmCoor_f utm0 = { nav_utm_north0, nav_utm_east0, GROUND_ALT, nav_utm_zone0 };
stateSetLocalUtmOrigin_f(MODULE_INS_ALT_FLOAT_ID, &utm0);
ins_altf.origin_initialized = true;