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use a null location at initialisation

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This commit is contained in:
ctzsnooze 2024-11-29 21:41:39 +11:00
parent 691116be34
commit b51ae1395d
1 changed files with 3 additions and 2 deletions
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5
src/main/flight/autopilot.c
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@ -147,8 +147,9 @@ void autopilotInit(void)
positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE; positionPidCoeffs.Ki = cfg->position_I * POSITION_I_SCALE;
positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE; positionPidCoeffs.Kd = cfg->position_D * POSITION_D_SCALE;
positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration positionPidCoeffs.Kf = cfg->position_A * POSITION_A_SCALE; // Kf used for acceleration
// initialise filters with approximate filter gains; location isn't used at this point. // initialise filters with approximate filter gains
resetPositionControl(&gpsSol.llh, 100); const gpsLocation_t initialiseLocation = {0}; // somewhere off the coast of Guinea
resetPositionControl(&initialiseLocation, 100);
} }
void resetAltitudeControl (void) { void resetAltitudeControl (void) {