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EV yaw: move EV yaw reset out of resetMagHeading function

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Also remove the unnecessary 2nd "manual reset" done in the start function
This commit is contained in:
bresch
2021-05-11 11:59:08 +02:00
committed by Paul Riseborough
parent 48722a2a92
commit 6248646bff
3 changed files with 21 additions and 23 deletions
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EKF/control.cpp
+4 -4
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@@ -222,12 +222,13 @@ void Ekf::controlExternalVisionFusion()
if (!_inhibit_ev_yaw_use && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
// don't start using EV data unless data is arriving frequently
if (isRecent(_time_last_ext_vision, 2 * EV_MAX_INTERVAL)) {
startEvYawFusion();
if (resetYawToEv()) {
_control_status.flags.yaw_align = true;
startEvYawFusion();
}
}
}
// determine if we should use the horizontal position observations
if (_control_status.flags.ev_pos) {
@@ -342,7 +343,6 @@ void Ekf::controlExternalVisionFusion()
stopEvFusion();
_warning_events.flags.vision_data_stopped = true;
ECL_WARN("vision data stopped");
}
}