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AP_Compass: use ahrs for location instead of GPS directly for calibration

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This commit is contained in:
Willian Galvani 2024-07-01 21:38:13 -03:00
parent b172f086de
commit ad3a3aefae
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Compass/CompassCalibrator.cpp
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@ -1065,14 +1065,14 @@ bool CompassCalibrator::calculate_orientation(void)
*/ */
bool CompassCalibrator::fix_radius(void) bool CompassCalibrator::fix_radius(void)
{ {
if (AP::gps().status() < AP_GPS::GPS_OK_FIX_2D) { Location loc;
if (!AP::ahrs().get_location(loc) && !AP::ahrs().get_origin(loc)) {
// we don't have a position, leave scale factor as 0. This // we don't have a position, leave scale factor as 0. This
// will disable use of WMM in the EKF. Users can manually set // will disable use of WMM in the EKF. Users can manually set
// scale factor after calibration if it is known // scale factor after calibration if it is known
_params.scale_factor = 0; _params.scale_factor = 0;
return true; return true;
} }
const Location &loc = AP::gps().location();
float intensity; float intensity;
float declination; float declination;
float inclination; float inclination;