ekf: fix earth spin rate initialisation when starting at 0;0

PX4 · Nov 21, 2024 · 94b2686 · 94b2686
1 parent 09488d9
commit 94b2686
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
@@ -487,8 +487,8 @@ class Ekf final : public EstimatorInterface
 
 	LatLonAlt _last_known_gpos{};
 
-	Vector3f _earth_rate_NED{};	///< earth rotation vector (NED) in rad/s
-	double _earth_rate_lat_ref_rad; ///< latitude at which the earth rate was evaluated (radians)
+	Vector3f _earth_rate_NED{CONSTANTS_EARTH_SPIN_RATE, 0.f, 0.f}; ///< earth rotation vector (NED) in rad/s
+	double _earth_rate_lat_ref_rad{0.0}; ///< latitude at which the earth rate was evaluated (radians)
 
 	Dcmf _R_to_earth{};	///< transformation matrix from body frame to earth frame from last EKF prediction