fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 03:04:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

addressed review comment

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-11-08 16:33:47 +01:00 committed by Paul Riseborough
parent a74b7ef60b
commit 68a3cbc368
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
EKF/control.cpp
View File

@ -1495,11 +1495,11 @@ void Ekf::controlMagFusion()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D || !_flt_mag_align_complete) {
_flt_mag_align_complete= resetMagHeading(_mag_sample_delayed.mag);
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
}
// always use 3-axis mag fusion
// use 3-axis mag fusion if reset was successful
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_hdg = false;