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AP_Compass: only update last_update_ms on raw_field update if on calibration

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This commit is contained in:
Pierre Kancir 2021-05-11 13:45:27 +02:00 committed by Andrew Tridgell
parent f67a4ec025
commit 12e1f67326
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -45,15 +45,14 @@ void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)
void AP_Compass_Backend::publish_raw_field(const Vector3f &mag, uint8_t instance)
{
Compass::mag_state &state = _compass._state[Compass::StateIndex(instance)];
// note that we do not set last_update_usec here as otherwise the
// EKF and DCM would end up consuming compass data at the full
// sensor rate. We want them to consume only the filtered fields
state.last_update_ms = AP_HAL::millis();
#if COMPASS_CAL_ENABLED
auto& cal = _compass._calibrator[_compass._get_priority(Compass::StateIndex(instance))];
if (cal != nullptr) {
Compass::mag_state &state = _compass._state[Compass::StateIndex(instance)];
state.last_update_ms = AP_HAL::millis();
cal->new_sample(mag);
}
#endif