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EKF: Output mag sensor isolation warning first time only

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Paul Riseborough
2017-07-31 19:39:07 +10:00
parent ce806768b7
commit 596b8220e2
1 changed files with 1 additions and 1 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -372,7 +372,7 @@ bool Ekf::realignYawGPS()
ECL_WARN("EKF bad yaw corrected using GPS course"); ECL_WARN("EKF bad yaw corrected using GPS course");
// declare the magnetomer as failed if a bad yaw has occurred more than once // declare the magnetomer as failed if a bad yaw has occurred more than once
if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2)) { if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
ECL_WARN("EKF stopping magnetometer use"); ECL_WARN("EKF stopping magnetometer use");
_control_status.flags.mag_fault = true; _control_status.flags.mag_fault = true;
} }