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AP_NavEKF3: fixes for new compass API

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This commit is contained in:
Andrew Tridgell 2020-05-11 19:38:54 +10:00
parent 17a45b2c44
commit 25b0a113d5
1 changed files with 1 additions and 3 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -406,9 +406,7 @@ void NavEKF3_core::InitialiseVariablesMag()
mag_state.DCM.identity(); mag_state.DCM.identity();
inhibitMagStates = true; inhibitMagStates = true;
magStoreIndex = 0; magStoreIndex = 0;
if (_ahrs->get_compass()) { magSelectIndex = 0;
magSelectIndex = _ahrs->get_compass()->get_primary();
}
lastMagOffsetsValid = false; lastMagOffsetsValid = false;
magStateResetRequest = false; magStateResetRequest = false;
magStateInitComplete = false; magStateInitComplete = false;