From 26a06567bb5524931326284bc4bd51e4b11ec5be Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 4 Jan 2017 10:44:07 +0100
Subject: [PATCH] EKF: add missing initialisation for class variables

---
 EKF/ekf.cpp                 | 3 +++
 EKF/estimator_interface.cpp | 9 +++++++++
 2 files changed, 12 insertions(+)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 084de229cc..bdc3c0889f 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -114,9 +114,11 @@ Ekf::Ekf():
 	_hagl_innov(0.0f),
 	_hagl_innov_var(0.0f),
 	_time_last_hagl_fuse(0),
+	_terrain_initialised(false),
 	_baro_hgt_faulty(false),
 	_gps_hgt_faulty(false),
 	_rng_hgt_faulty(false),
+	_primary_hgt_source(VDIST_SENSOR_BARO),
 	_time_bad_vert_accel(0)
 {
 	_state = {};
@@ -141,6 +143,7 @@ Ekf::Ekf():
 	_imu_del_ang_of = {};
 	_gps_check_fail_status.value = 0;
 	_state_reset_status = {};
+	_dt_ekf_avg = 0.001f * (float)(FILTER_UPDATE_PERIOD_MS);
 }
 
 Ekf::~Ekf()
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index 56393a2806..2f15d9a424 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -62,6 +62,7 @@ EstimatorInterface::EstimatorInterface():
 	_yaw_test_ratio(0.0f),
 	_tas_test_ratio(0.0f),
 	_terr_test_ratio(0.0f),
+	_beta_test_ratio(0.0f),
 	_time_last_imu(0),
 	_time_last_gps(0),
 	_time_last_mag(0),
@@ -69,6 +70,7 @@ EstimatorInterface::EstimatorInterface():
 	_time_last_range(0),
 	_time_last_airspeed(0),
 	_time_last_ext_vision(0),
+	_time_last_optflow(0),
 	_mag_declination_gps(0.0f),
 	_mag_declination_to_save_deg(0.0f)
 {
@@ -78,6 +80,13 @@ EstimatorInterface::EstimatorInterface():
 	_delta_ang_prev.setZero();
 	_delta_vel_prev.setZero();
 	memset(_vibe_metrics, 0, sizeof(_vibe_metrics));
+	memset(&_mag_sample_delayed, 0, sizeof(_mag_sample_delayed));
+	memset(&_baro_sample_delayed, 0, sizeof(_baro_sample_delayed));
+	memset(&_gps_sample_delayed, 0, sizeof(_gps_sample_delayed));
+	memset(&_range_sample_delayed, 0, sizeof(_range_sample_delayed));
+	memset(&_airspeed_sample_delayed, 0, sizeof(_airspeed_sample_delayed));
+	memset(&_flow_sample_delayed, 0, sizeof(_flow_sample_delayed));
+	memset(&_ev_sample_delayed, 0, sizeof(_ev_sample_delayed));
 }
 
 EstimatorInterface::~EstimatorInterface()