From 30ce560e3a406fd0084ae52e6ce0d9ef36f4cd3d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 20 Jun 2024 13:38:28 -0400
Subject: [PATCH] ekf2: mag control reset filtered test ratio on start (if
 aligning yaw)

---
 src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
index 8bf976b8fa..74d017add5 100644
--- a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -245,6 +245,7 @@ void Ekf::controlMagFusion()
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
+						resetAidSourceStatusZeroInnovation(aid_src);
 					}
 
 					_control_status.flags.mag = true;