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ekf2: mag control reset mag_lpf on first sample

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This commit is contained in:
Daniel Agar 2023-02-02 10:14:22 -05:00
parent c2f13dbccf
commit e3d73cd837
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF/mag_control.cpp
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@ -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();