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ekf2: delete isStrongMagneticDisturbance()

This commit is contained in:
Daniel Agar 2022-03-21 14:24:24 -04:00
parent e6e27e694e
commit a7f573e150
2 changed files with 2 additions and 4 deletions
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1
src/modules/ekf2/EKF/ekf.h
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@ -864,7 +864,6 @@ private:
void checkMagInhibition();
bool shouldInhibitMag() const;
void checkMagFieldStrength(const Vector3f &mag);
bool isStrongMagneticDisturbance() const { return _control_status.flags.mag_field_disturbed; }
static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
void runMagAndMagDeclFusions(const Vector3f &mag);
void run3DMagAndDeclFusions(const Vector3f &mag);

5
src/modules/ekf2/EKF/mag_control.cpp
View File

@ -175,7 +175,7 @@ void Ekf::runOnGroundYawReset()
bool Ekf::canResetMagHeading() const
{
return !isStrongMagneticDisturbance() && (_params.mag_fusion_type != MagFuseType::NONE);
return !_control_status.flags.mag_field_disturbed && (_params.mag_fusion_type != MagFuseType::NONE);
}
void Ekf::runInAirYawReset(const Vector3f &mag_sample)
@ -299,8 +299,7 @@ bool Ekf::shouldInhibitMag() const
&& !_control_status.flags.ev_pos
&& !_control_status.flags.ev_vel;
return (user_selected && heading_not_required_for_navigation)
|| isStrongMagneticDisturbance();
return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed;
}
void Ekf::checkMagFieldStrength(const Vector3f &mag_sample)