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NavEKF: use primary compass instead of first instance

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Thanks very much to staroselskii for finding this bug
This commit is contained in:
Randy Mackay 2015-07-16 17:57:16 +09:00
parent cedc9a8670
commit 0acfcbfa81
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3831,11 +3831,11 @@ void NavEKF::getMagXYZ(Vector3f &magXYZ) const
bool NavEKF::getMagOffsets(Vector3f &magOffsets) const
{
// compass offsets are valid if we have finalised magnetic field initialisation and magnetic field learning is not prohibited and primary compass is valid
if (secondMagYawInit && (_magCal != 2) && _ahrs->get_compass()->healthy(0)) {
magOffsets = _ahrs->get_compass()->get_offsets(0) - state.body_magfield*1000.0f;
if (secondMagYawInit && (_magCal != 2) && _ahrs->get_compass()->healthy()) {
magOffsets = _ahrs->get_compass()->get_offsets() - state.body_magfield*1000.0f;
return true;
} else {
magOffsets = _ahrs->get_compass()->get_offsets(0);
magOffsets = _ahrs->get_compass()->get_offsets();
return false;
}
}
@ -4340,8 +4340,8 @@ void NavEKF::readMagData()
newDataMag = true;
// check if compass offsets have ben changed and adjust EKF bias states to maintain consistent innovations
if (_ahrs->get_compass()->healthy(0)) {
Vector3f nowMagOffsets = _ahrs->get_compass()->get_offsets(0);
if (_ahrs->get_compass()->healthy()) {
Vector3f nowMagOffsets = _ahrs->get_compass()->get_offsets();
bool changeDetected = (!is_equal(nowMagOffsets.x,lastMagOffsets.x) || !is_equal(nowMagOffsets.y,lastMagOffsets.y) || !is_equal(nowMagOffsets.z,lastMagOffsets.z));
// Ignore bias changes before final mag field and yaw initialisation, as there may have been a compass calibration
if (changeDetected && secondMagYawInit) {