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AP_NavEKF3: Fix yaw alignment bug

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When the  yaw is aligned to the GPS yaw, the recordYawResetsCompleted() function should be called the same as for any other yaw reset.
This commit is contained in:
Paul Riseborough 2024-07-25 05:42:46 +09:30 committed by Peter Barker
parent 05d8b0db8a
commit 4904c718a5
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -294,6 +294,7 @@ void NavEKF3_core::SelectMagFusion()
have_fused_gps_yaw = true;
lastSynthYawTime_ms = imuSampleTime_ms;
last_gps_yaw_fuse_ms = imuSampleTime_ms;
recordYawResetsCompleted();
} else if (tiltAlignComplete && yawAlignComplete) {
have_fused_gps_yaw = fuseEulerYaw(yawFusionMethod::GPS);
if (have_fused_gps_yaw) {