From 68a3cbc368bf63aa945926f2c438baea76926a95 Mon Sep 17 00:00:00 2001 From: Roman Date: Thu, 8 Nov 2018 16:33:47 +0100 Subject: [PATCH] addressed review comment Signed-off-by: Roman --- EKF/control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index 0aeae63a99..69754f2800 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -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;