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AP_NavEKF3: Use specialised function for in-flight plane yaw alignment
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@ -17,7 +17,7 @@ void NavEKF3_core::controlMagYawReset()
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// Vehicles that can use a zero sideslip assumption (Planes) are a special case
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// They can use the GPS velocity to recover from bad initial compass data
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// This allows recovery for heading alignment errors due to compass faults
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if (assume_zero_sideslip() && !finalInflightYawInit && inFlight) {
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if (assume_zero_sideslip() && (!finalInflightYawInit || !yawAlignComplete) && inFlight) {
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gpsYawResetRequest = true;
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return;
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} else {
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