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ekf2-mag: remove immediate declination fusion after reset

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This commit is contained in:
bresch
2024-05-31 10:38:17 -04:00
committed by Daniel Agar
parent a6007e4b93
commit c3d984703c
3 changed files with 20 additions and 45 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -4
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@@ -308,10 +308,7 @@ void Ekf::resetAccelBiasCov()
#if defined(CONFIG_EKF2_MAGNETOMETER)
void Ekf::resetMagCov()
{
if (_mag_decl_cov_reset) {
ECL_INFO("reset mag covariance");
_mag_decl_cov_reset = false;
}
ECL_INFO("reset mag covariance");
P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));