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AP_NavEKF2: clean up mag field learned logic

This commit is contained in:
priseborough 2016-07-11 00:44:33 +10:00
parent e6592186fc
commit 8793c75da0
1 changed files with 1 additions and 5 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -269,12 +269,8 @@ void NavEKF2_core::SelectMagFusion()
// If the final yaw reset has been performed and the state variances are sufficiently low // If the final yaw reset has been performed and the state variances are sufficiently low
// record that the earth field has been learned. // record that the earth field has been learned.
bool earthMagFieldConverged = false;
if (!magFieldLearned && finalInflightMagInit) { if (!magFieldLearned && finalInflightMagInit) {
earthMagFieldConverged = (P[16][16] < sq(0.01f)) && (P[17][17] < sq(0.01f)) && (P[18][18] < sq(0.01f)); magFieldLearned = (P[16][16] < sq(0.01f)) && (P[17][17] < sq(0.01f)) && (P[18][18] < sq(0.01f));
}
if (magFieldLearned || earthMagFieldConverged) {
magFieldLearned = true;
} }
// record the last learned field variances // record the last learned field variances