fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 05:14:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: use new Param<> reset method

Browse Source
This commit is contained in:
Daniel Agar 2020-10-14 21:23:40 -04:00 committed by Beat Küng
parent 7255f5feac
commit d985887468
1 changed files with 3 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/modules/ekf2/EKF2.cpp
View File

@ -416,12 +416,9 @@ void EKF2::Run()
if ((_vehicle_status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) && (_invalid_mag_id_count > 100)) {
// the sensor ID used for the last saved mag bias is not confirmed to be the same as the current sensor ID
// this means we need to reset the learned bias values to zero
_param_ekf2_magbias_x.set(0.f);
_param_ekf2_magbias_x.commit_no_notification();
_param_ekf2_magbias_y.set(0.f);
_param_ekf2_magbias_y.commit_no_notification();
_param_ekf2_magbias_z.set(0.f);
_param_ekf2_magbias_z.commit_no_notification();
_param_ekf2_magbias_x.reset();
_param_ekf2_magbias_y.reset();
_param_ekf2_magbias_z.reset();
_param_ekf2_magbias_id.set(magnetometer.device_id);
_param_ekf2_magbias_id.commit();