From a7af05cc2f7f98247bbf51b1da933b4d4bc30c88 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jes=C3=BAs=20Bautista=20Villar?=
 <92217640+jesusBV20@users.noreply.github.com>
Date: Fri, 28 Mar 2025 10:57:04 +0100
Subject: [PATCH] [ins] Properly initialize utm0 altitude in ins_alt_float
 (#3443)

---
 sw/airborne/modules/ins/ins_alt_float.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/sw/airborne/modules/ins/ins_alt_float.c b/sw/airborne/modules/ins/ins_alt_float.c
index 81629a33bd..ff2273c9c8 100644
--- a/sw/airborne/modules/ins/ins_alt_float.c
+++ b/sw/airborne/modules/ins/ins_alt_float.c
@@ -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;