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

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2026-06-30 16:50:35 +08:00 · 2019-03-12 15:08:45 +01:00
parent 1d91785a8e
commit 2b17ced405
5 changed files with 15 additions and 21 deletions
@@ -254,8 +254,6 @@ bool Ekf::initialiseFilter()
 		_R_to_earth = quat_to_invrotmat(_state.quat_nominal);

 		// calculate the initial magnetic field and yaw alignment
-		// Get the magnetic declination
-		calcMagDeclination();
 		_control_status.flags.yaw_align = resetMagHeading(_mag_filt_state, false, false);

 		// initialise the state covariance matrix