yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

initialise topic structs properly

Browse Source
This commit is contained in:
Roman
2016-01-21 07:25:18 +01:00
parent 4ce5d4e3e3
commit e6d2d17109
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/ekf2/ekf2_main.cpp
View File

@@ -315,7 +315,7 @@ void Ekf2::task_main()
_ekf->update();
// generate vehicle attitude data
struct vehicle_attitude_s att;
struct vehicle_attitude_s att = {};
att.timestamp = hrt_absolute_time();
_ekf->copy_quaternion(att.q);
@@ -326,7 +326,7 @@ void Ekf2::task_main()
att.yaw = euler(2);
// generate vehicle local position data
struct vehicle_local_position_s lpos;
struct vehicle_local_position_s lpos = {};
float pos[3] = {};
float vel[3] = {};
@@ -421,7 +421,7 @@ void Ekf2::task_main()
}
// generate and publish global position data
struct vehicle_global_position_s global_pos;
struct vehicle_global_position_s global_pos = {};
if (_ekf->position_is_valid()) {
// TODO: local origin is currenlty at GPS height origin - this is different to ekf_att_pos_estimator