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AP_NavEKF2: don't use WMM tables unless we have a compass scale factor set

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This commit is contained in:
Andrew Tridgell 2019-11-27 09:13:14 +11:00 committed by Randy Mackay
parent a1f2c7530e
commit d47126fc6b
1 changed files with 10 additions and 7 deletions
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17
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -577,13 +577,16 @@ void NavEKF2_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,
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;
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;
}
}
}