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

- so that there's new filtered data avaiable for reset
2026-11-09 03:31:36 +08:00 · 2022-04-04 10:42:54 -04:00
parent 9a929e0857
commit 741310bc36
1 changed files with 2 additions and 0 deletions
@@ -872,6 +872,8 @@ void Ekf::resetMagBias()

 	// reset any saved covariance data for re-use when auto-switching between heading and 3-axis fusion
 	_saved_mag_bf_variance.zero();
+
+	_mag_counter = 0;
 }

 // get EKF innovation consistency check status information comprising of: