From 1e25ceb085a8ca5cd53825a2eb30d9cf69c3a8d9 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 4 Apr 2014 18:47:30 +0200
Subject: Create EKF object in right context

---
 src/modules/fw_att_pos_estimator/estimator.cpp                | 11 ++++++++++-
 src/modules/fw_att_pos_estimator/estimator.h                  |  4 ++++
 .../fw_att_pos_estimator/fw_att_pos_estimator_main.cpp        |  4 +++-
 3 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp
index 3ce1ce56e..7ab06e85d 100644
--- a/src/modules/fw_att_pos_estimator/estimator.cpp
+++ b/src/modules/fw_att_pos_estimator/estimator.cpp
@@ -106,7 +106,16 @@ void swap_var(float &d1, float &d2)
     d2 = tmp;
 }
 
-void  AttPosEKF::UpdateStrapdownEquationsNED()
+AttPosEKF::AttPosEKF()
+{
+
+}
+
+AttPosEKF::~AttPosEKF()
+{
+}
+
+void AttPosEKF::UpdateStrapdownEquationsNED()
 {
     Vector3f delVelNav;
     float q00;
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
index 821392399..7edb3c714 100644
--- a/src/modules/fw_att_pos_estimator/estimator.h
+++ b/src/modules/fw_att_pos_estimator/estimator.h
@@ -78,6 +78,10 @@ struct ekf_status_report {
 class AttPosEKF {
 
 public:
+
+    AttPosEKF();
+    ~AttPosEKF();
+
     // Global variables
     float KH[n_states][n_states]; //  intermediate result used for covariance updates
     float KHP[n_states][n_states]; // intermediate result used for covariance updates
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 20c5d3719..840cd585e 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -292,7 +292,7 @@ FixedwingEstimator::FixedwingEstimator() :
 	_initialized(false),
 	_gps_initialized(false),
 	_mavlink_fd(-1),
-	_ekf(new AttPosEKF())
+	_ekf(nullptr)
 {
 
 	_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -396,6 +396,8 @@ void
 FixedwingEstimator::task_main()
 {
 
+	_ekf = new AttPosEKF();
+
 	if (!_ekf) {
 		errx(1, "failed allocating EKF filter - out of RAM!");
 	}
-- 
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