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AP_NavEKF3: Use specialised function for in-flight plane yaw alignment

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Paul Riseborough 2021-02-28 14:41:29 +11:00 committed by Andrew Tridgell
parent 4675aea0bf
commit e3eea0a54a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -17,7 +17,7 @@ void NavEKF3_core::controlMagYawReset()
// Vehicles that can use a zero sideslip assumption (Planes) are a special case // Vehicles that can use a zero sideslip assumption (Planes) are a special case
// They can use the GPS velocity to recover from bad initial compass data // They can use the GPS velocity to recover from bad initial compass data
// This allows recovery for heading alignment errors due to compass faults // This allows recovery for heading alignment errors due to compass faults
if (assume_zero_sideslip() && !finalInflightYawInit && inFlight) { if (assume_zero_sideslip() && (!finalInflightYawInit || !yawAlignComplete) && inFlight) {
gpsYawResetRequest = true; gpsYawResetRequest = true;
return; return;
} else { } else {