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ekf2: request mag yaw reset after calibration or sensor change

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This commit is contained in:
Daniel Agar
2022-06-17 21:04:05 -04:00
parent c7cec4252c
commit b81a5b3efa
3 changed files with 11 additions and 4 deletions
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src/modules/ekf2/EKF2.cpp
+2 -2
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@@ -1818,14 +1818,14 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
reset = true;
} else if (magnetometer.calibration_count > _mag_calibration_count) {
} else if (magnetometer.calibration_count != _mag_calibration_count) {
// existing calibration has changed, reset saved mag bias
PX4_DEBUG("%d - mag %" PRIu32 " calibration updated, resetting bias", _instance, _device_id_mag);
reset = true;
}
if (reset) {
_ekf.resetMagBias();
_ekf.resetMagBiasAndYaw();
_device_id_mag = magnetometer.device_id;
_mag_calibration_count = magnetometer.calibration_count;