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AP_NavEKF3: handle compass fallback in yaw source reset 

if we get to this point we must be using the compass fallback logic,
and should do the reset
This commit is contained in:
Andrew Tridgell 2020-11-20 11:48:40 +11:00 committed by Randy Mackay
parent f257dc20d0
commit 36c946113d
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -363,7 +363,8 @@ void NavEKF3_core::SelectMagFusion()
// Control reset of yaw and magnetic field states if we are using compass data // Control reset of yaw and magnetic field states if we are using compass data
if (magDataToFuse) { if (magDataToFuse) {
if (yaw_source_reset && (yaw_source == AP_NavEKF_Source::SourceYaw::COMPASS)) { if (yaw_source_reset && (yaw_source == AP_NavEKF_Source::SourceYaw::COMPASS ||
yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) {
magYawResetRequest = true; magYawResetRequest = true;
yaw_source_reset = false; yaw_source_reset = false;
} }