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AP_NavEKF2: Disable magnetic field learning if we have no absolute position reference

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Paul Riseborough 2015-10-17 19:17:30 +11:00 committed by Andrew Tridgell
parent 75a61df627
commit 6899767d28
1 changed files with 3 additions and 2 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -70,8 +70,9 @@ void NavEKF2_core::setWindMagStateLearningMode()
((frontend._magCal == 3) && firstMagYawInit) || // when initial in-air yaw and field reset has completed
(frontend._magCal == 4); // all the time
// Deny mag calibration request if we aren't using the compass or it has been inhibited by the user
bool magCalDenied = !use_compass() || (frontend._magCal == 2);
// Deny mag calibration request if we aren't using the compass, it has been inhibited by the user, or we do not have an absolute position reference
// If we do nto have absolute position (eg GPS) then the earth field states cannot be learned
bool magCalDenied = !use_compass() || (frontend._magCal == 2) || (PV_AidingMode != AID_ABSOLUTE);
// Inhibit the magnetic field calibration if not requested or denied
inhibitMagStates = (!magCalRequested || magCalDenied);