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ekf2: delete isYawResetAuthorized()

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This commit is contained in:
Daniel Agar
2022-07-21 09:24:28 -04:00
parent 0f1f6daa1a
commit e6e27e694e
2 changed files with 2 additions and 3 deletions
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src/modules/ekf2/EKF/ekf.h
-1
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@@ -851,7 +851,6 @@ private:
float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; } float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
void runOnGroundYawReset(); void runOnGroundYawReset();
bool isYawResetAuthorized() const { return !_is_yaw_fusion_inhibited; }
bool canResetMagHeading() const; bool canResetMagHeading() const;
void runInAirYawReset(const Vector3f &mag); void runInAirYawReset(const Vector3f &mag);
src/modules/ekf2/EKF/mag_control.cpp
+2 -2
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@@ -155,7 +155,7 @@ void Ekf::checkHaglYawResetReq()
void Ekf::runOnGroundYawReset() void Ekf::runOnGroundYawReset()
{ {
if (_mag_yaw_reset_req && isYawResetAuthorized()) { if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false; const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false;
if (has_realigned_yaw) { if (has_realigned_yaw) {
@@ -180,7 +180,7 @@ bool Ekf::canResetMagHeading() const
void Ekf::runInAirYawReset(const Vector3f &mag_sample) void Ekf::runInAirYawReset(const Vector3f &mag_sample)
{ {
if (_mag_yaw_reset_req && isYawResetAuthorized()) { if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
bool has_realigned_yaw = false; bool has_realigned_yaw = false;
if (_control_status.flags.gps && _control_status.flags.fixed_wing) { if (_control_status.flags.gps && _control_status.flags.fixed_wing) {