From 75b2c8bf1b7037028ec74a3421f64cb568c9e22e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 19 Oct 2018 18:31:34 +1100 Subject: [PATCH] Tracker: allow for "in-flight" compass learning --- AntennaTracker/AntennaTracker.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp index 6669857977..9cd99d5392 100644 --- a/AntennaTracker/AntennaTracker.cpp +++ b/AntennaTracker/AntennaTracker.cpp @@ -115,6 +115,10 @@ void Tracker::one_second_loop() set_home(temp_loc); } } + + // need to set "likely flying" when armed to allow for compass + // learning to run + ahrs.set_likely_flying(hal.util->get_soft_armed()); } void Tracker::ten_hz_logging_loop()