From 741310bc36d7c790f952c9b599758c8e23140e17 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 21 Mar 2022 21:12:41 -0400 Subject: [PATCH] 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 --- src/modules/ekf2/EKF/ekf_helper.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index e2d5a98a2e..7ff2c973f9 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -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: