From ba047f234d4bfa664043a409202643c82c07d6d7 Mon Sep 17 00:00:00 2001
From: Roman Bapst <bapstroman@gmail.com>
Date: Sun, 7 Aug 2016 11:30:54 +0200
Subject: [PATCH] ekf2 replay: added magic values for range min/max distance
 (#5268)

- replay was not working without these values as only range measurements
were given to the filter which were between the min/max value

Signed-off-by: Roman <bapstroman@gmail.com>
---
 src/modules/ekf2_replay/ekf2_replay_main.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index e175662b04..74f1159152 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -429,6 +429,10 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
 		parseMessage(data, dest_ptr, type);
 		_range.timestamp = replay_part4.time_rng_usec;
 		_range.current_distance = replay_part4.range_to_ground;
+		_range.covariance = 0.0f;
+		// magic values
+		_range.min_distance = 0.05f;
+		_range.max_distance = 30.0f;
 		_read_part4 = true;
 
 	} else if (type == LOG_RPL6_MSG) {