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EKF/control: remove unnecessary yaw_align update

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jie.zhang
2018-10-18 03:50:00 +08:00
committed by Daniel Agar
parent 8bbaf898a5
commit 10a0fef7b7
1 changed files with 0 additions and 1 deletions
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EKF/control.cpp
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@@ -548,7 +548,6 @@ void Ekf::controlGpsFusion()
// Do not use external vision for yaw if using GPS because yaw needs to be // Do not use external vision for yaw if using GPS because yaw needs to be
// defined relative to an NED reference frame // defined relative to an NED reference frame
if (!_control_status.flags.yaw_align || _control_status.flags.ev_yaw || _mag_inhibit_yaw_reset_req) { if (!_control_status.flags.yaw_align || _control_status.flags.ev_yaw || _mag_inhibit_yaw_reset_req) {
_control_status.flags.yaw_align = false;
_control_status.flags.ev_yaw = false; _control_status.flags.ev_yaw = false;
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag); _control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
// Handle the special case where we have not been constraining yaw drift or learning yaw bias due // Handle the special case where we have not been constraining yaw drift or learning yaw bias due