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AP_NavEKF3: Don't block no compass planes from running GPS alignment checks

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Paul Riseborough 2023-09-27 11:04:35 +10:00 committed by Andrew Tridgell
parent 6baeb1cd9d
commit eb2ff2192d
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@ -12,7 +12,7 @@
*/ */
void NavEKF3_core::calcGpsGoodToAlign(void) void NavEKF3_core::calcGpsGoodToAlign(void)
{ {
if (inFlight && assume_zero_sideslip() && !use_compass()) { if (inFlight && !finalInflightYawInit && assume_zero_sideslip() && !use_compass()) {
// this is a special case where a plane has launched without magnetometer // this is a special case where a plane has launched without magnetometer
// is now in the air and needs to align yaw to the GPS and start navigating as soon as possible // is now in the air and needs to align yaw to the GPS and start navigating as soon as possible
gpsGoodToAlign = true; gpsGoodToAlign = true;