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EKF: Don't fuse multi rotor drag if yaw angle is bad

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Paul Riseborough 2018-05-15 10:28:00 +10:00 committed by Lorenz Meier
parent 092a8d8f21
commit 4889e8432c
1 changed files with 2 additions and 1 deletions
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3
EKF/control.cpp
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@ -1199,7 +1199,8 @@ void Ekf::controlBetaFusion()
void Ekf::controlDragFusion()
{
if (_params.fusion_mode & MASK_USE_DRAG) {
if (_control_status.flags.in_air) {
if (_control_status.flags.in_air
&& !_mag_inhibit_yaw_reset_req) {
if (!_control_status.flags.wind) {
// reset the wind states and covariances when starting drag accel fusion
_control_status.flags.wind = true;