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ekf2: fuseDeclination respect mag update_all_states

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- when both mag_hdg/mag_3d are inactive we should be able to continue
   updating mag without any possible impact on other states
This commit is contained in:
Daniel Agar
2024-08-27 16:16:55 +02:00
committed by Mathieu Bresciani
parent 9d57a3c02f
commit 2a9e205442
3 changed files with 17 additions and 4 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -773,7 +773,7 @@ private:
// fuse magnetometer declination measurement
// declination uncertainty in radians
bool fuseDeclination(float decl_measurement_rad, float decl_sigma);
bool fuseDeclination(float decl_measurement_rad, float decl_sigma, bool update_all_states = false);
#endif // CONFIG_EKF2_MAGNETOMETER