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ekf2: mag control reset filtered test ratio on start (if aligning yaw)

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Daniel Agar
2024-06-20 13:41:54 -04:00
parent dcb1103299
commit 30ce560e3a
1 changed files with 1 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
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@@ -245,6 +245,7 @@ void Ekf::controlMagFusion()
if (reset_heading) { if (reset_heading) {
_control_status.flags.yaw_align = true; _control_status.flags.yaw_align = true;
resetAidSourceStatusZeroInnovation(aid_src);
} }
_control_status.flags.mag = true; _control_status.flags.mag = true;