EKF hotfix: Force zero initialization of vectors

3 files changed, 11 insertions, 3 deletions

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 5d768b73d..a835599e7 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -743,8 +743,8 @@ FixedwingEstimator::task_main()
 	/* sets also parameters in the EKF object */
 	parameters_update();
 
-	Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
-	Vector3f lastAccel = {0.0f, 0.0f, 0.0f};
+	Vector3f lastAngRate;
+	Vector3f lastAccel;
 
 	/* wakeup source(s) */
 	struct pollfd fds[2];
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 3da92b264..a41b58250 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -73,7 +73,7 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
     float qUpdated[4];
     float quatMag;
     float deltaQuat[4];
-    const Vector3f gravityNED = {0.0,0.0,GRAVITY_MSS};
+    const Vector3f gravityNED(0.0f, 0.0f, GRAVITY_MSS);
 
 // Remove sensor bias errors
     correctedDelAng.x = dAngIMU.x - states[10];
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
index 5648cb05c..0cafdc808 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -19,6 +19,14 @@ public:
     float y;
     float z;
 
+    Vector3f() { zero(); }
+
+    Vector3f(float a, float b, float c) :
+    x(a),
+    y(b),
+    z(c)
+    {}
+
     float length(void) const;
     void zero(void);
 };