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AP_NavEKF: revert AP_Math class change

This commit is contained in:
Andrew Tridgell 2015-05-05 12:35:42 +10:00
parent 7c9e3d4b58
commit a140a5e77f
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4262,7 +4262,7 @@ void NavEKF::readMagData()
// check if compass offsets have ben changed and adjust EKF bias states to maintain consistent innovations
if (_ahrs->get_compass()->healthy(0)) {
Vector3f nowMagOffsets = _ahrs->get_compass()->get_offsets(0);
bool changeDetected = (!AP_Math::is_equal(nowMagOffsets.x,lastMagOffsets.x) || !AP_Math::is_equal(nowMagOffsets.y,lastMagOffsets.y) || !AP_Math::is_equal(nowMagOffsets.z,lastMagOffsets.z));
bool changeDetected = (!is_equal(nowMagOffsets.x,lastMagOffsets.x) || !is_equal(nowMagOffsets.y,lastMagOffsets.y) || !is_equal(nowMagOffsets.z,lastMagOffsets.z));
// Ignore bias changes before final mag field and yaw initialisation, as there may have been a compass calibration
if (changeDetected && secondMagYawInit) {
state.body_magfield.x += (nowMagOffsets.x - lastMagOffsets.x) * 0.001f;