From 19a2b4ec315c080b2076477a985cb79ab843995d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 14 Mar 2023 10:45:56 -0400
Subject: [PATCH] ekf2: GNSS yaw only reset test ratio for new samples

 - otherwise external test ratio monitoring could trigger a false positive
---
 src/modules/ekf2/EKF/gps_yaw_fusion.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
index d85d08cba0..7ddfb391ee 100644
--- a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+++ b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp
@@ -48,10 +48,11 @@
 
 void Ekf::updateGpsYaw(const gpsSample &gps_sample)
 {
-	auto &gnss_yaw = _aid_src_gnss_yaw;
-	resetEstimatorAidStatus(gnss_yaw);
-
 	if (PX4_ISFINITE(gps_sample.yaw)) {
+
+		auto &gnss_yaw = _aid_src_gnss_yaw;
+		resetEstimatorAidStatus(gnss_yaw);
+
 		// initially populate for estimator_aid_src_gnss_yaw logging
 
 		// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement