Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: don't use WMM tables unless we have a compass scale factor set

Browse Source
This commit is contained in:
Andrew Tridgell 2019-11-27 09:13:14 +11:00
parent eefa16887b
commit c7a39648d4
1 changed files with 9 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -608,13 +608,16 @@ void NavEKF3_core::readGpsData()
}
if (gpsGoodToAlign && !have_table_earth_field) {
table_earth_field_ga = AP_Declination::get_earth_field_ga(gpsloc);
table_declination = radians(AP_Declination::get_declination(gpsloc.lat*1.0e-7,
const Compass *compass = _ahrs->get_compass();
if (compass && compass->have_scale_factor(magSelectIndex)) {
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));
have_table_earth_field = true;
if (frontend->_mag_ef_limit > 0) {
// initialise earth field from tables
stateStruct.earth_magfield = table_earth_field_ga;
have_table_earth_field = true;
if (frontend->_mag_ef_limit > 0) {
// initialise earth field from tables
stateStruct.earth_magfield = table_earth_field_ga;
}
}
}