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ekf2: mag in air reset fall back to regular resetMagHeading() if realignYawGPS() fails

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This commit is contained in:
Daniel Agar
2022-07-21 09:24:28 -04:00
parent 05133aed27
commit ecdade3638
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/EKF/mag_control.cpp
+2 -1
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@@ -183,8 +183,9 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
has_realigned_yaw = realignYawGPS(mag_sample);
}
} else if (canResetMagHeading()) {
if (!has_realigned_yaw && canResetMagHeading()) {
has_realigned_yaw = resetMagHeading();
}