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ekf2-mag: remove immediate declination fusion after reset

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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/ekf.h
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@@ -705,7 +705,6 @@ private:
// used by magnetometer fusion mode selection
bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable
AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
uint8_t _nb_mag_3d_reset_available{0};
uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time