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EKF: record yaw alignment event during initialisation to allow heading fusion to start early

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This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
This commit is contained in:
Paul Riseborough 2016-05-18 19:23:44 +10:00
parent 94a63ec9d5
commit b9a3712ccb
1 changed files with 1 additions and 1 deletions
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EKF/ekf.cpp
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@ -511,7 +511,7 @@ bool Ekf::initialiseFilter(void)
Vector3f mag_init = _mag_filt_state;
// calculate the initial magnetic field and yaw alignment
resetMagHeading(mag_init);
_control_status.flags.yaw_align = resetMagHeading(mag_init);
// if we are using the range finder as the primary source, then calculate the baro height at origin so we can use baro as a backup
// so it can be used as a backup ad set the initial height using the range finder