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EKF: Clean up use of magnetometer declination. Before the innovation was not zero in fuseDeclination()

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2019-03-12 15:08:45 +01:00
committed by Paul Riseborough
parent 1d91785a8e
commit 2b17ced405
5 changed files with 15 additions and 21 deletions
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EKF/control.cpp
-3
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@@ -48,9 +48,6 @@ void Ekf::controlFusionModes()
// Store the status to enable change detection
_control_status_prev.value = _control_status.value;
// Get the magnetic declination
calcMagDeclination();
// monitor the tilt alignment
if (!_control_status.flags.tilt_align) {
// whilst we are aligning the tilt, monitor the variances