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EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4

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Paul Riseborough
2019-08-06 18:22:00 +10:00
committed by Paul Riseborough
parent 4e946d5bcb
commit eae6e8f19c
3 changed files with 20 additions and 12 deletions
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EKF/control.cpp
+1 -1
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@@ -1582,7 +1582,7 @@ void Ekf::controlMagFusion()
save_mag_cov_data();
}
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_HEADING) {
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_HEADING || _params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR) {
// always use heading fusion
_control_status.flags.mag_hdg = true;