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ekf2: reset heading when mag calibration changed

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bresch 2025-03-25 14:27:19 +01:00 committed by Daniel Agar
parent 49624a6457
commit 82a482ec0b
1 changed files with 6 additions and 0 deletions
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6
src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
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@ -75,6 +75,12 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
_mag_lpf.reset(mag_sample.mag);
_mag_counter = 1;
if (!_control_status.flags.in_air) {
// Assume that a reset on the ground is caused by a change in mag calibration
// Clear alignment to force a clean reset
_control_status.flags.yaw_align = false;
}
} else {
_mag_lpf.update(mag_sample.mag);
_mag_counter++;