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AP_NavEKF : Clear compass fail on transition between armed and disarmed

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This allows a compass that has been declared failed, possibly because of
external disturbances (eg movement of hatches, proximity of tools, etc)
to be given a second chance when the vehicle is armed.
This commit is contained in:
priseborough 2014-08-25 17:19:16 +10:00 committed by Andrew Tridgell
parent e34b0847d7
commit 0f62dbf6ed
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -608,6 +608,9 @@ void NavEKF::UpdateFilter()
ResetPosition(); ResetPosition();
ResetHeight(); ResetHeight();
StoreStatesReset(); StoreStatesReset();
// clear the magnetometer failed status as the failure may have been
// caused by external field disturbances associated with pre-flight activities
magFailed = false;
calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch); calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
prevStaticMode = staticMode; prevStaticMode = staticMode;
} }