From ffebaf384fd3ab75f5f34ffb6d087e30b4613f5d Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 8 Mar 2016 13:28:45 +1100
Subject: [PATCH] EKF: Set initial optical flow fusion monitor outputs to zero

---
 EKF/ekf.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 9565388ca4..b696472266 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -86,8 +86,10 @@ Ekf::Ekf():
 	_R_prev = matrix::Dcm<float>();
 	memset(_vel_pos_innov, 0, sizeof(_vel_pos_innov));
 	memset(_mag_innov, 0, sizeof(_mag_innov));
+	memset(_flow_innov, 0, sizeof(_flow_innov));
 	memset(_vel_pos_innov_var, 0, sizeof(_vel_pos_innov_var));
 	memset(_mag_innov_var, 0, sizeof(_mag_innov_var));
+	memset(_flow_innov_var, 0, sizeof(_flow_innov_var));
 	_delta_angle_corr.setZero();
 	_delta_vel_corr.setZero();
 	_vel_corr.setZero();
@@ -97,7 +99,7 @@ Ekf::Ekf():
 	_mag_sum = {};
 	_delVel_sum = {};
 	_flow_gyro_bias = {};
-	_imu_del_ang_of = {};
+	_imu_del_ang_of = {};	
 }
 
 Ekf::~Ekf()