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EKF: update mag LPF immediately

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This commit is contained in:
Daniel Agar
2020-12-17 10:46:04 +01:00
committed by Mathieu Bresciani
parent 398fe159ce
commit a8e0e82858
3 changed files with 2 additions and 9 deletions
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EKF/mag_control.cpp
-8
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@@ -58,7 +58,6 @@ void Ekf::controlMagFusion()
return;
}
updateMagFilter();
checkMagFieldStrength();
// If we are on ground, reset the flight alignment flag so that the mag fields will be
@@ -112,13 +111,6 @@ void Ekf::controlMagFusion()
}
}
void Ekf::updateMagFilter()
{
if (_mag_data_ready) {
_mag_lpf.update(_mag_sample_delayed.mag);
}
}
bool Ekf::noOtherYawAidingThanMag() const
{
// If we are using external vision data or GPS-heading for heading then no magnetometer fusion is used