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EKF: Don't use 3-axis magnetometer fusion until the tilt is aligned

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Paul Riseborough
2016-05-18 21:06:45 +10:00
parent aaac867da8
commit c1b02eaa91
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -481,7 +481,7 @@ void Ekf::controlMagAiding()
// or the more accurate 3-axis fusion // or the more accurate 3-axis fusion
if (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTO) { if (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTO) {
if (_control_status.flags.in_air) { if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states // if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) { if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag); _control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);