From 785a7480b13749febffa4899f6d06e0d20ab744f Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 5 May 2015 16:26:46 -0700
Subject: [PATCH] AP_InertialSensor: properly initialize error count
 workarounds

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 726f657981..77d1514f17 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -281,7 +281,8 @@ AP_InertialSensor::AP_InertialSensor() :
     _board_orientation(ROTATION_NONE),
     _hil_mode(false),
     _have_3D_calibration(false),
-    _calibrating(false)
+    _calibrating(false),
+    _startup_error_counts_set(false)
 {
     AP_Param::setup_object_defaults(this, var_info);        
     for (uint8_t i=0; i<INS_MAX_BACKENDS; i++) {
@@ -293,6 +294,8 @@ AP_InertialSensor::AP_InertialSensor() :
     }
     memset(_delta_velocity_valid,0,sizeof(_delta_velocity_valid));
     memset(_delta_angle_valid,0,sizeof(_delta_angle_valid));
+    memset(_accel_startup_error_count,0,sizeof(_accel_startup_error_count));
+    memset(_gyro_startup_error_count,0,sizeof(_gyro_startup_error_count));
 }