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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-11-13 08:42:28 +11:00
committed by Paul Riseborough
parent a74b7ef60b
commit 68a3cbc368
1 changed files with 2 additions and 2 deletions
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EKF/control.cpp
+2 -2
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@@ -1495,11 +1495,11 @@ void Ekf::controlMagFusion()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) { } 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 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) { 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; _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_3D = _flt_mag_align_complete;
_control_status.flags.mag_hdg = false; _control_status.flags.mag_hdg = false;