From 32271a98fffe91d685a25de50b3bff5211ccfca2 Mon Sep 17 00:00:00 2001
From: Marius Eggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 15 May 2024 10:04:04 +0200
Subject: [PATCH] go home compiler, you're drunk

---
 .../controller/acs/MultiplicativeKalmanFilter.cpp   | 13 +++++++------
 1 file changed, 7 insertions(+), 6 deletions(-)

diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index e938b0c4..fc61ca0e 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -119,7 +119,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
          measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -343,9 +344,10 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
   double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
-         residualCov[6][matrixDimensionFactor] = {},
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {};
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
-  double plantOutputDiff[matrixDimensionFactor] = {};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);