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ekf2: fix WMM NAN checks

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- if any of the stored WMM is NAN then it should be updated
This commit is contained in:
Daniel Agar
2023-09-29 09:37:30 +02:00
committed by Mathieu Bresciani
parent 0df5134156
commit 1e594747ab
1 changed files with 3 additions and 3 deletions
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src/modules/ekf2/EKF/gps_checks.cpp
+3 -3
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@@ -113,9 +113,9 @@ bool Ekf::collect_gps(const gpsMessage &gps)
const bool mag_inclination_changed = (fabsf(mag_inclination_gps - _mag_inclination_gps) > math::radians(1.f));
if ((_wmm_gps_time_last_set == 0)
|| !PX4_ISFINITE(mag_declination_gps)
|| !PX4_ISFINITE(mag_inclination_gps)
|| !PX4_ISFINITE(mag_strength_gps)
|| !PX4_ISFINITE(_mag_declination_gps)
|| !PX4_ISFINITE(_mag_inclination_gps)
|| !PX4_ISFINITE(_mag_strength_gps)
|| mag_declination_changed
|| mag_inclination_changed
) {