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Copter: only save offsets for Compass::LEARN_EKF

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this means by default that one flight one affect the next one, which
makes it more robust in case of a bad flight
This commit is contained in:
Andrew Tridgell 2016-04-28 18:51:49 +10:00
parent ed999a283f
commit 54d1cc7e50
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/motors.cpp
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@ -221,8 +221,8 @@ void Copter::init_disarm_motors()
gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors"); gcs_send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif #endif
// save compass offsets learned by the EKF // save compass offsets learned by the EKF if enabled
if (ahrs.use_compass()) { if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
Vector3f magOffsets; Vector3f magOffsets;
if (ahrs.getMagOffsets(i, magOffsets)) { if (ahrs.getMagOffsets(i, magOffsets)) {