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EKF: Don't reset yaw and mag field states when not necessary

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This commit is contained in:
Paul Riseborough
2016-02-25 08:16:42 +11:00
parent 380db7ebef
commit 2d09a5f3ac
1 changed files with 4 additions and 2 deletions
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EKF/control.cpp
+4 -2
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@@ -57,8 +57,10 @@ void Ekf::controlFusionModes()
if (!_control_status.flags.gps) {
if (_control_status.flags.tilt_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
&& (_time_last_imu - _last_gps_fail_us > 5e6)) {
// Reset the yaw and magnetic field states
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
// If the heading is not aligned, reset the yaw and magnetic field states
if (!_control_status.flags.yaw_align) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// If the heading is valid, reset the positon and velocity and start using gps aiding
if (_control_status.flags.yaw_align) {