From 04d3e549f5fc05d461196a0bf9e27a65f1400395 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 2 Feb 2023 10:21:02 -0500 Subject: [PATCH] ekf2: resetQuatStateYaw() set _time_last_heading_fuse --- src/modules/ekf2/EKF/ekf_helper.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index fdc30f48be..e33fb98269 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1318,6 +1318,8 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) _state_reset_status.reset_count.quat++; + _time_last_heading_fuse = _time_delayed_us; + _last_static_yaw = NAN; }