ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset()

2026-10-25 10:53:33 +08:00 · 2023-03-09 09:08:27 -05:00
parent c1f244a6fd
commit b3cc945a5a
2 changed files with 58 additions and 65 deletions
@@ -890,11 +890,10 @@ private:
 	// control fusion of magnetometer observations
 	void controlMagFusion();

-	void checkHaglYawResetReq();
 	float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }

-	void runOnGroundYawReset();
-	void runInAirYawReset();
+	bool magReset();
+	bool haglYawResetReq();

 	void selectMagAuto();
 	void check3DMagFusionSuitability();