From 0673740e0e0ed4bc2134805ee1d556b92d4b7da5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 21 Jun 2014 14:58:37 +0200
Subject: Initialize velNED fields correctly, preventing a bogus initial filter
 reset

---
 src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

(limited to 'src/modules')

diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index d364facad..673865dd4 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -35,8 +35,11 @@ AttPosEKF::AttPosEKF()
     magDeclination = 0.0f;
     dAngIMU.zero();
     dVelIMU.zero();
-    ekfDiverged = false;
+    velNED[0] = 0.0f;
+    velNED[1] = 0.0f;
+    velNED[2] = 0.0f;
     delAngTotal.zero();
+    ekfDiverged = false;
 
     memset(&last_ekf_error, 0, sizeof(last_ekf_error));
     ZeroVariables();
-- 
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