From 6fb37f8b0082f00ade9b942c16e3bf75de714b84 Mon Sep 17 00:00:00 2001 From: Tomaso Maria Luigi De Ponti <48210579+tmldeponti@users.noreply.github.com> Date: Tue, 9 Apr 2024 13:36:33 +0200 Subject: [PATCH] [modules] EKF2 fixed initialization warning (#3262) --- sw/airborne/modules/ins/ins_ekf2.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/sw/airborne/modules/ins/ins_ekf2.cpp b/sw/airborne/modules/ins/ins_ekf2.cpp index aaaffebc0a9..7267686a263 100644 --- a/sw/airborne/modules/ins/ins_ekf2.cpp +++ b/sw/airborne/modules/ins/ins_ekf2.cpp @@ -301,7 +301,7 @@ static void ins_ekf2_publish_attitude(uint32_t stamp); static Ekf ekf; ///< EKF class itself static parameters *ekf_params; ///< The EKF parameters struct ekf2_t ekf2; ///< Local EKF2 status structure -static struct extVisionSample sample_ev = {0}; ///< External vision sample +static struct extVisionSample sample_ev; ///< External vision sample #if PERIODIC_TELEMETRY #include "modules/datalink/telemetry.h" @@ -576,6 +576,9 @@ void ins_ekf2_init(void) /* Initialize the flow sensor limits */ ekf.set_optical_flow_limits(INS_EKF2_MAX_FLOW_RATE, INS_EKF2_SONAR_MIN_RANGE, INS_EKF2_SONAR_MAX_RANGE); + // Don't send external vision data by default + sample_ev.time_us = 0; + /* Initialize the origin from flight plan */ #if USE_INS_NAV_INIT if(ekf.setEkfGlobalOrigin(NAV_LAT0*1e-7, NAV_LON0*1e-7, (NAV_ALT0)*1e-3)) // EKF2 works HMSL