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AP_NavEKF3: Don't use geomag data when user specifies declination

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Paul Riseborough 2020-04-26 08:12:10 +10:00 committed by Randy Mackay
parent 117b2629a9
commit 9cd7cf4c01
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -609,7 +609,7 @@ void NavEKF3_core::readGpsData()
if (gpsGoodToAlign && !have_table_earth_field) {
const Compass *compass = _ahrs->get_compass();
if (compass && compass->have_scale_factor(magSelectIndex)) {
if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
table_earth_field_ga = AP_Declination::get_earth_field_ga(gpsloc);
table_declination = radians(AP_Declination::get_declination(gpsloc.lat*1.0e-7,
gpsloc.lng*1.0e-7));