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AP_NavEKF2: move yaw reset for no compass case

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Should not be in a function that performs reset on magnetic field states
This commit is contained in:
Paul Riseborough 2016-05-24 09:46:56 +10:00 committed by Andrew Tridgell
parent da0622827d
commit fe85c68344
1 changed files with 6 additions and 10 deletions
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16
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -57,13 +57,6 @@ void NavEKF2_core::controlMagYawReset()
}
}
// In-Flight yaw alignment for vehicles that can use a zero sideslip assumption (Planes)
// and are not using a compass
if (!yawAlignComplete && assume_zero_sideslip() && inFlight) {
realignYawGPS();
firstMagYawInit = yawAlignComplete;
}
// In-Flight reset for vehicles that can use a zero sideslip assumption (Planes)
// this is done to protect against unrecoverable heading alignment errors due to compass faults
if (!firstMagYawInit && assume_zero_sideslip() && inFlight) {
@ -212,9 +205,12 @@ void NavEKF2_core::SelectMagFusion()
magTestRatio.zero();
yawTestRatio = 0.0f;
lastSynthYawTime_ms = imuSampleTime_ms;
} else {
// Control reset of yaw and magnetic field states
controlMagYawReset();
}
// In-Flight yaw alignment for vehicles that can use a zero sideslip assumption (Planes)
// and are not using a compass
if (!yawAlignComplete && assume_zero_sideslip() && inFlight) {
realignYawGPS();
firstMagYawInit = yawAlignComplete;
}
}