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AP_NavEKF3: use first usable compass index to set magSelectIndex

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This commit is contained in:
Siddharth Purohit 2021-05-20 21:39:17 +05:30 committed by Andrew Tridgell
parent 124eaf1a38
commit cd5b764fd8
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -94,7 +94,7 @@ void NavEKF3_core::controlMagYawReset()
if (magYawResetRequest && use_compass()) {
// send initial alignment status to console
if (!yawAlignComplete) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u initial yaw alignment complete",(unsigned)imu_index);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u MAG%u initial yaw alignment complete",(unsigned)imu_index, (unsigned)magSelectIndex);
}
// set yaw from a single mag sample
@ -102,10 +102,10 @@ void NavEKF3_core::controlMagYawReset()
// send in-flight yaw alignment status to console
if (finalResetRequest) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u in-flight yaw alignment complete",(unsigned)imu_index);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "EKF3 IMU%u MAG%u in-flight yaw alignment complete",(unsigned)imu_index, (unsigned)magSelectIndex);
} else if (interimResetRequest) {
magYawAnomallyCount++;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF3 IMU%u ground mag anomaly, yaw re-aligned",(unsigned)imu_index);
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF3 IMU%u MAG%u ground mag anomaly, yaw re-aligned",(unsigned)imu_index, (unsigned)magSelectIndex);
}
// clear the complete flags if an interim reset has been performed to allow subsequent

2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
View File

@ -454,7 +454,7 @@ void NavEKF3_core::InitialiseVariablesMag()
mag_state.q0 = 1;
mag_state.DCM.identity();
inhibitMagStates = true;
magSelectIndex = 0;
magSelectIndex = dal.compass().get_first_usable();
lastMagOffsetsValid = false;
magStateResetRequest = false;
magStateInitComplete = false;