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ekf2: reset mag_lpf (by zeroing _mag_counter) when resetting mag bias (or changing mags)

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- so that there's new filtered data avaiable for reset
This commit is contained in:
Daniel Agar
2022-07-21 09:24:28 -04:00
parent ecdade3638
commit 70e95812e7
1 changed files with 2 additions and 0 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+2
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@@ -915,6 +915,8 @@ void Ekf::resetMagBiasAndYaw()
} }
_control_status.flags.mag_fault = false; _control_status.flags.mag_fault = false;
_mag_counter = 0;
} }
// get EKF innovation consistency check status information comprising of: // get EKF innovation consistency check status information comprising of: