EKF2 set zero unused estimator_status fields

7 years ago · 7b1b255158
1 changed files with 3 additions and 0 deletions
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@ -1102,6 +1102,9 @@ void Ekf2::run()
				@@ -1102,6 +1102,9 @@ void Ekf2::run()
 		_ekf.get_ekf_soln_status(&status.solution_status_flags);
 		_ekf.get_imu_vibe_metrics(status.vibe);
 		status.time_slip = _last_time_slip_us / 1e6f;
+		status.nan_flags = 0.0f; // unused
+		status.health_flags = 0.0f; // unused
+		status.timeout_flags = 0.0f; // unused
 		status.pre_flt_fail = _preflt_fail;

 		if (_estimator_status_pub == nullptr) {