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3D only mag fusion: make sure _flt_mag_align_complete is set

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- _flt_mag_align_complete was not set when choosing pure 3D mag fusion.
one effect of this was that the declination used in the filter was not
the one calculated from the magnetic field states.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-11-07 11:55:45 +01:00
committed by Paul Riseborough
parent 10a0fef7b7
commit a74b7ef60b
1 changed files with 4 additions and 3 deletions
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EKF/control.cpp
+4 -3
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@@ -1494,13 +1494,14 @@ void Ekf::controlMagFusion()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag) || _control_status.flags.yaw_align;
if (!_control_status.flags.mag_3D || !_flt_mag_align_complete) {
_flt_mag_align_complete= resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
}
// always use 3-axis mag fusion
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_3D = true;
} else {
// do no magnetometer fusion at all