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AP_AHRS: fill in _dcm_matrix whenever EKF started

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this ensures get_dcm_matrix() always returns valid data
This commit is contained in:
Andrew Tridgell 2014-01-04 16:00:47 +11:00
parent 4c42f53636
commit df271fbd59
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -64,8 +64,8 @@ void AP_AHRS_NavEKF::update(void)
}
if (ekf_started) {
EKF.UpdateFilter();
EKF.getRotationBodyToNED(_dcm_matrix);
if (using_EKF()) {
EKF.getRotationBodyToNED(_dcm_matrix);
Vector3f eulers;
EKF.getEulerAngles(eulers);
roll = eulers.x;