From 6bcf03bf7116071445399a146fe676169189ef52 Mon Sep 17 00:00:00 2001
From: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Date: Thu, 16 Nov 2023 17:31:33 +0100
Subject: [PATCH] atune: initialize filter if not already initialized

---
 .../fw_autotune_attitude_control.cpp                            | 2 +-
 .../mc_autotune_attitude_control.cpp                            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
index ec274f28dac2..641a90465cba 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
@@ -225,7 +225,7 @@ void FwAutotuneAttitudeControl::checkFilters()
 			reset_filters = true;
 		}
 
-		if (reset_filters) {
+		if (reset_filters || !_are_filters_initialized) {
 			_are_filters_initialized = true;
 			_filter_sample_rate = update_rate_hz;
 			_sys_id.setLpfCutoffFrequency(_filter_sample_rate, _param_imu_gyro_cutoff.get());
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
index 749186ee8d04..c99ccad653ab 100644
--- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
+++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
@@ -236,7 +236,7 @@ void McAutotuneAttitudeControl::checkFilters()
 			reset_filters = true;
 		}
 
-		if (reset_filters && !_are_filters_initialized) {
+		if (reset_filters || !_are_filters_initialized) {
 			_filter_dt = _sample_interval_avg;
 
 			const float filter_rate_hz = 1.f / _filter_dt;