From 3df7c1a7c7de296638a86829def7f5e399a1f43e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 9 Jul 2021 12:52:17 +1000 Subject: [PATCH] AP_NavEKF3: moved checkUpdateEarthField to be called less often --- libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp index 9185c84626..d96d6bfc05 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp @@ -700,6 +700,9 @@ void NavEKF3_core::UpdateFilter(bool predict) // Update the filter status updateFilterStatus(); + + // check for update of earth field + checkUpdateEarthField(); } // Wind output forward from the fusion to output time horizon @@ -725,9 +728,6 @@ void NavEKF3_core::UpdateFilter(bool predict) statesInitialised = false; InitialiseFilterBootstrap(); } - - // check for update of earth field - checkUpdateEarthField(); } void NavEKF3_core::correctDeltaAngle(Vector3F &delAng, ftype delAngDT, uint8_t gyro_index)