AP_NavEKF2: init rngOnGnd to 5cm to avoid div-by-zero

ArduPilot · Aug 26, 2021 · b524094 · b524094
1 parent ff58054
commit b524094
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -194,6 +194,7 @@ void NavEKF2_core::InitialiseVariables()
     gpsPosAccuracy = 0.0f;
     gpsHgtAccuracy = 0.0f;
     baroHgtOffset = 0.0f;
+    rngOnGnd = 0.05f;
     yawResetAngle = 0.0f;
     lastYawReset_ms = 0;
     tiltErrFilt = 1.0f;