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Copter: save EKF learned compass to primary compass

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Randy Mackay 2015-04-10 09:33:05 +09:00
parent 2406e26ab4
commit fea7632eac
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/motors.pde
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@ -657,8 +657,8 @@ static void init_disarm_motors()
// save compass offsets learned by the EKF // save compass offsets learned by the EKF
Vector3f magOffsets; Vector3f magOffsets;
if (ahrs.getMagOffsets(magOffsets)) { if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
compass.set_and_save_offsets(0,magOffsets); compass.set_and_save_offsets(compass.get_primary(), magOffsets);
} }
#if AUTOTUNE_ENABLED == ENABLED #if AUTOTUNE_ENABLED == ENABLED