From c23d72ba298e3432c0558274882b0a2e582f0032 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 16 Mar 2016 17:22:27 +1100
Subject: [PATCH] EKF: Ensure filter control modes are correctly initialised

---
 EKF/ekf.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 262d4ddf05..cdfe4cc01b 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -84,8 +84,6 @@ Ekf::Ekf():
 	_rng_hgt_faulty(false),
 	_baro_hgt_offset(0.0f)
 {
-	_control_status = {};
-	_control_status_prev = {};
 	_state = {};
 	_last_known_posNE.setZero();
 	_earth_rate_NED.setZero();
@@ -156,6 +154,9 @@ bool Ekf::init(uint64_t timestamp)
 	_filter_initialised = false;
 	_terrain_initialised = false;
 
+	_control_status.value = 0;
+	_control_status_prev.value = 0;
+
 	return ret;
 }