move init

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -46,8 +46,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 		return;
 	}
 
-	// TODO: move setting params to init function
-	_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
+	// Apply rotation to earth frame
 	_range_sensor.updateSensorToEarthRotation(_R_to_earth);
 
 	// TODO: why isn't this being done anywhere?

src/modules/ekf2/EKF/ekf.cpp

@@ -402,7 +402,8 @@ void Ekf::updateParameters()
 	_aux_global_position.updateParameters();
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 #if defined (CONFIG_EKF2_RANGE_FINDER)
-	// TODO: set the tilt/rotation shit
+	// TODO: initialize static rangefinder parameters
+	_rng_consistency_check.setGate(_params.ekf2_rng_k_gate);
 
 #endif
 }

src/modules/ekf2/EKF/estimator_interface.h

@@ -381,7 +381,7 @@ protected:
 	uint64_t _range_time_last_good_sample{};
 
 	SensorRangeFinder _range_sensor{};
-	RangeFinderConsistencyCheck _rng_consistency_check;
+	RangeFinderConsistencyCheck _rng_consistency_check{};
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)