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AP_AHRS: called boost_end() on AHRS update

This commit is contained in:
Andrew Tridgell 2018-05-04 18:29:43 +10:00
parent 84a4f9dc96
commit 5ae410f7ca
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -80,6 +80,10 @@ void AP_AHRS_NavEKF::reset_gyro_drift(void)
void AP_AHRS_NavEKF::update(bool skip_ins_update) void AP_AHRS_NavEKF::update(bool skip_ins_update)
{ {
// drop back to normal priority if we were boosted by the INS
// calling delay_microseconds_boost()
hal.scheduler->boost_end();
// EKF1 is no longer supported - handle case where it is selected // EKF1 is no longer supported - handle case where it is selected
if (_ekf_type == 1) { if (_ekf_type == 1) {
_ekf_type.set(2); _ekf_type.set(2);