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AP_NavEKF: source returns YawSource None if COMPASS_USE all zero

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This commit is contained in:
Randy Mackay 2020-12-17 16:26:51 +09:00
parent dfd1c23cd3
commit 4998b536b4
2 changed files with 12 additions and 1 deletions
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11
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -213,6 +213,17 @@ bool AP_NavEKF_Source::haveVelZSource() const
return false;
}
// get yaw source
AP_NavEKF_Source::SourceYaw AP_NavEKF_Source::getYawSource() const
{
// check for special case of disabled compasses
if ((_source_set[active_source_set].yaw == SourceYaw::COMPASS) && (AP::dal().compass().get_num_enabled() == 0)) {
return SourceYaw::NONE;
}
return _source_set[active_source_set].yaw;
}
// align position of inactive sources to ahrs
void AP_NavEKF_Source::align_inactive_sources()
{

2
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -71,7 +71,7 @@ public:
bool haveVelZSource() const;
// get yaw source
SourceYaw getYawSource() const { return _source_set[active_source_set].yaw; }
SourceYaw getYawSource() const;
// align position of inactive sources to ahrs
void align_inactive_sources();