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ekf2: fix controlEvYawFusion() yaw reset

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This commit is contained in:
Daniel Agar
2023-02-24 16:59:59 -05:00
parent a06a635da3
commit b5a6d6db0d
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/ev_yaw_control.cpp
+1 -1
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@@ -105,7 +105,7 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
// Data seems good, attempt a reset // Data seems good, attempt a reset
//_information_events.flags.reset_yaw_to_vision = true; // TODO //_information_events.flags.reset_yaw_to_vision = true; // TODO
ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
resetQuatStateYaw(aid_src.innovation, aid_src.observation_variance); resetQuatStateYaw(aid_src.observation, aid_src.observation_variance);
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;
if (_control_status.flags.in_air) { if (_control_status.flags.in_air) {