Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: Reset covariance if bad mag fusion update

Browse Source
This commit is contained in:
priseborough 2017-04-27 16:39:49 +10:00 committed by Andrew Tridgell
parent 18b66f9eed
commit f208986d43
1 changed files with 2 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
View File

@ -695,6 +695,8 @@ void NavEKF3_core::FuseMagnetometer()
} else if (obsIndex == 2) { } else if (obsIndex == 2) {
faultStatus.bad_zmag = true; faultStatus.bad_zmag = true;
} }
CovarianceInit();
return;
} }
} }
} }