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ekf, control: make sure mag fusion doesn't start anymore when we have GPS heading fusion active

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Andreas Antener 2019-07-31 17:41:56 +02:00 committed by Paul Riseborough
parent 93eb1266f6
commit 4f19d457c4
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
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@ -1384,7 +1384,7 @@ void Ekf::controlMagFusion()
// check for new magnetometer data that has fallen behind the fusion time horizon
// If we are using external vision data for heading then no magnetometer fusion is used
if (!_control_status.flags.ev_yaw && _mag_data_ready) {
if (!_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw && _mag_data_ready) {
// We need to reset the yaw angle after climbing away from the ground to enable
// recovery from ground level magnetic interference.