From 28754d3f58398a29c77fbec1af028273593c7d99 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 25 Jan 2016 16:19:10 +0100 Subject: [PATCH] ekf2: don't reset GPS position in every loop --- src/modules/ekf2/ekf2_main.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index a48a52bcab..a13ea5b940 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -247,6 +247,8 @@ void Ekf2::task_main() // initialise parameter cache updateParams(); + vehicle_gps_position_s gps = {}; + while (!_task_should_exit) { int ret = px4_poll(fds, sizeof(fds) / sizeof(fds[0]), 1000); @@ -277,7 +279,6 @@ void Ekf2::task_main() bool airspeed_updated = false; sensor_combined_s sensors = {}; - vehicle_gps_position_s gps = {}; airspeed_s airspeed = {}; orb_copy(ORB_ID(sensor_combined), _sensors_sub, &sensors);