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Copter : Save EKF learned compass offsets on disarm 

Requires compass learning to be enabled in the compass parameters

Copter: fix compass offsets patch
This commit is contained in:
Paul Riseborough 2015-03-16 14:30:16 -07:00 committed by Randy Mackay
parent 70fbb3c67e
commit 2406e26ab4
1 changed files with 4 additions and 3 deletions
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7
ArduCopter/motors.pde
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@ -655,9 +655,10 @@ static void init_disarm_motors()
motors.armed(false);
// save offsets if automatic offset learning is on
if (compass.learn_offsets_enabled()) {
compass.save_offsets();
// save compass offsets learned by the EKF
Vector3f magOffsets;
if (ahrs.getMagOffsets(magOffsets)) {
compass.set_and_save_offsets(0,magOffsets);
}
#if AUTOTUNE_ENABLED == ENABLED