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AP_NavEKF3: Fix bug preventing yaw alignment to EKF-GSF estimate

This commit is contained in:
Paul Riseborough 2020-11-21 11:39:07 +11:00 committed by Andrew Tridgell
parent fe81387433
commit 8561f5239d
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -718,14 +718,14 @@ void NavEKF3_core::runYawEstimatorCorrection()
} else { } else {
EKFGSF_yaw_valid_count = 0; EKFGSF_yaw_valid_count = 0;
} }
} else {
EKFGSF_yaw_valid_count = 0;
} }
// action an external reset request // action an external reset request
if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms - EKFGSF_yaw_reset_request_ms < YAW_RESET_TO_GSF_TIMEOUT_MS) { if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms - EKFGSF_yaw_reset_request_ms < YAW_RESET_TO_GSF_TIMEOUT_MS) {
EKFGSF_resetMainFilterYaw(); EKFGSF_resetMainFilterYaw();
} }
} else {
EKFGSF_yaw_valid_count = 0;
} }
} }