Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: use_compass minor order fixup

This commit is contained in:
Randy Mackay 2020-11-18 15:19:59 +09:00
parent b475f01b25
commit f88364d653
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
View File

@ -508,7 +508,6 @@ bool NavEKF3_core::readyToUseExtNav(void) const
// return true if we should use the compass // return true if we should use the compass
bool NavEKF3_core::use_compass(void) const bool NavEKF3_core::use_compass(void) const
{ {
const auto *compass = dal.get_compass();
const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource(); const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
if ((yaw_source != AP_NavEKF_Source::SourceYaw::COMPASS) && if ((yaw_source != AP_NavEKF_Source::SourceYaw::COMPASS) &&
(yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) { (yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) {
@ -516,6 +515,7 @@ bool NavEKF3_core::use_compass(void) const
return false; return false;
} }
const auto *compass = dal.get_compass();
return compass && return compass &&
compass->use_for_yaw(magSelectIndex) && compass->use_for_yaw(magSelectIndex) &&
!allMagSensorsFailed; !allMagSensorsFailed;