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Heading reset to magnetometer from GPS or EV (#969)

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isidroas
2021-02-16 14:37:34 +01:00
committed by GitHub
parent d4258cc66d
commit 0c5291d194
5 changed files with 25 additions and 4 deletions
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EKF/control.cpp
+1 -1
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@@ -333,7 +333,7 @@ void Ekf::controlExternalVisionFusion()
fuseHeading();
}
} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel)
} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw)
&& isTimedOut(_time_last_ext_vision, (uint64_t)_params.reset_timeout_max)) {
// Turn off EV fusion mode if no data has been received