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AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten

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priseborough 2014-12-20 14:41:15 +11:00 committed by Randy Mackay
parent bf89c56e54
commit 73a06cd0c1
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -708,7 +708,7 @@ void NavEKF::UpdateFilter()
state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch); state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
firstArmPosD = state.position.z; firstArmPosD = state.position.z;
} }
calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch); // zero stored velocities used to do dead-reckoning
heldVelNE.zero(); heldVelNE.zero();
// When entering static mode (dis-arming), clear the GPS inhibit mode // When entering static mode (dis-arming), clear the GPS inhibit mode
// when leaving static mode (arming) set to true if EKF user parameter is set to not use GPS // when leaving static mode (arming) set to true if EKF user parameter is set to not use GPS