From 3d1e373e36f4831a9bb9a7569837a9ff9fcde1f4 Mon Sep 17 00:00:00 2001 From: Johan Jansen Date: Tue, 10 Feb 2015 14:56:19 +0100 Subject: AttPosEKF: Fix initialization of AMSL estimation without GPS --- src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 1 + 1 file changed, 1 insertion(+) 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 fb88fa8e8..81b27ddbe 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 @@ -1331,6 +1331,7 @@ void AttitudePositionEstimatorEKF::task_main() _local_pos.ref_alt = _baro_ref; _baro_ref_offset = 0.0f; _baro_gps_offset = 0.0f; + _baro_alt_filt = _baro.altitude; _ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f); -- cgit v1.2.3