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ekf2: stop mag fusion on numerical error

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Daniel Agar
2024-07-11 12:19:50 -04:00
parent 33be5d8356
commit b425253a54
1 changed files with 2 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp
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@@ -101,6 +101,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
resetMagCov();
stopMagFusion();
return false;
}