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AP_NavEKF3: Don't allow mag to interfere with use of external yaw sensor

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priseborough 2017-11-15 07:41:55 +11:00 committed by Andrew Tridgell
parent b56914b879
commit 122f214416
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -450,7 +450,7 @@ bool NavEKF3_core::readyToUseRangeBeacon(void) const
// return true if we should use the compass
bool NavEKF3_core::use_compass(void) const
{
return _ahrs->get_compass() && _ahrs->get_compass()->use_for_yaw(magSelectIndex) && !allMagSensorsFailed;
return (frontend->_magCal != 5) && _ahrs->get_compass() && _ahrs->get_compass()->use_for_yaw(magSelectIndex) && !allMagSensorsFailed;
}
/*

2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -261,7 +261,7 @@ void NavEKF3_core::SelectMagFusion()
magFusePerformed = false;
// Handle case where we are using an external yaw sensor instead of a magnetomer
if ((frontend->_magCal == 5) && !use_compass()) {
if ((frontend->_magCal == 5)) {
if (storedYawAng.recall(yawAngDataDelayed,imuDataDelayed.time_ms)) {
if (tiltAlignComplete && !yawAlignComplete) {
alignYawAngle();