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EKF: Always reset yaw and mag field states on entry into 3-axis mag fusion mode

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This commit is contained in:
Paul Riseborough 2016-02-24 20:17:22 +11:00
parent 2d09a5f3ac
commit 5b5bddebea
1 changed files with 10 additions and 0 deletions
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10
EKF/control.cpp
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@ -112,6 +112,11 @@ void Ekf::controlFusionModes()
} else {
if (_control_status.flags.in_air) {
// if transitioning from a non-3D fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// always use 3D mag fusion when airborne
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
@ -145,6 +150,11 @@ void Ekf::controlFusionModes()
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning from a non-3D fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// always use 3-axis mag fusion
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;