From e3d73cd837806b4f3e6e59d81a2ae02facee4b29 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 2 Feb 2023 10:14:22 -0500
Subject: [PATCH] ekf2: mag control reset mag_lpf on first sample

---
 src/modules/ekf2/EKF/mag_control.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp
index f17f1ef133..0291ca0427 100644
--- a/src/modules/ekf2/EKF/mag_control.cpp
+++ b/src/modules/ekf2/EKF/mag_control.cpp
@@ -51,7 +51,7 @@ void Ekf::controlMagFusion()
 		if (mag_data_ready) {
 
 			// sensor or calibration has changed, clear any mag bias and reset low pass filter
-			if (mag_sample.reset) {
+			if (mag_sample.reset || (_mag_counter == 0)) {
 				// Zero the magnetometer bias states
 				_state.mag_B.zero();