diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 15dbd0597..bfb2007af 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2537,6 +2537,8 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do // we are at reference altitude, so measurement must be zero hgtMea = 0.0f; + posNE[0] = 0.0f; + posNE[1] = 0.0f; // the baro offset must be this difference now baroHgtOffset = baroHgt - referenceHgt; |