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EKF: update get_mag_decl_deg()

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2019-03-13 08:14:23 +11:00
committed by Paul Riseborough
parent 2b17ced405
commit 8d6e8ae078
2 changed files with 8 additions and 6 deletions
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EKF/ekf_helper.cpp
-3
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@@ -777,17 +777,14 @@ float Ekf::getMagDeclination()
} else if (_params.mag_declination_source & MASK_USE_GEO_DECL) {
// use parameter value until GPS is available, then use value returned by geo library
if (_NED_origin_initialised) {
_mag_declination_to_save_deg = math::degrees(_mag_declination_gps);
return _mag_declination_gps;
} else {
_mag_declination_to_save_deg = _params.mag_declination_deg;
return math::radians(_params.mag_declination_deg);
}
} else {
// always use the parameter value
_mag_declination_to_save_deg = _params.mag_declination_deg;
return math::radians(_params.mag_declination_deg);
}
}