fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 05:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Enable local frame alignment also without using it

Browse Source
This commit is contained in:
kamilritz
2019-08-29 08:34:10 +10:00
committed by Paul Riseborough
parent ea352a6631
commit 933c32c921
2 changed files with 10 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+1 -1
View File
@@ -731,7 +731,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
// reset the rotation from the EV to EKF frame of reference if it is being used
if ((_params.fusion_mode & MASK_ROTATE_EV) && (_params.fusion_mode & MASK_USE_EVPOS) && !_control_status.flags.ev_yaw) {
if ((_params.fusion_mode & MASK_ROTATE_EV) && !_control_status.flags.ev_yaw) {
resetExtVisRotMat();
}