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ekf2: replace _inhibit_ev_yaw_use with local flag

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This commit is contained in:
Daniel Agar
2022-03-21 15:41:31 -04:00
parent cdf9e6d35a
commit 2f0c2fa126
4 changed files with 4 additions and 11 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
-7
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@@ -1579,10 +1579,6 @@ void Ekf::stopGpsFusion()
if (_control_status.flags.gps_yaw) {
stopGpsYawFusion();
}
// We do not need to know the true North anymore
// EV yaw can start again
_inhibit_ev_yaw_use = false;
}
void Ekf::stopGpsPosFusion()
@@ -1767,9 +1763,6 @@ bool Ekf::resetYawToEKFGSF()
} else if (_control_status.flags.gps_yaw) {
_control_status.flags.gps_yaw_fault = true;
_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
} else if (_control_status.flags.ev_yaw) {
_inhibit_ev_yaw_use = true;
}
_ekfgsf_yaw_reset_time = _time_last_imu;