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AP_NavEKF3: Reset covariance if bad mag fusion update

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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
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2
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -695,6 +695,8 @@ void NavEKF3_core::FuseMagnetometer()
} else if (obsIndex == 2) {
faultStatus.bad_zmag = true;
}
CovarianceInit();
return;
}
}
}