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AP_Compass: do not use GSF if any model has been clipped

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Peter Barker 2022-05-10 11:28:33 +10:00 committed by Randy Mackay
parent c06aced405
commit 2a5e9f76ac
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_Compass/Compass_learn.cpp
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@ -51,8 +51,10 @@ void CompassLearn::update(void)
AP_Notify::flags.compass_cal_running = true; AP_Notify::flags.compass_cal_running = true;
ftype yaw_rad, yaw_variance; ftype yaw_rad, yaw_variance;
if (!gsf->getYawData(yaw_rad, yaw_variance) || uint8_t n_clips;
if (!gsf->getYawData(yaw_rad, yaw_variance, &n_clips) ||
!is_positive(yaw_variance) || !is_positive(yaw_variance) ||
n_clips > 1 ||
yaw_variance >= sq(radians(YAW_ACCURACY_THRESHOLD_DEG))) { yaw_variance >= sq(radians(YAW_ACCURACY_THRESHOLD_DEG))) {
// not converged // not converged
return; return;