ekf2: mag control reset mag_lpf on first sample

2023-02-02 10:14:22 -05:00 · 2023-02-02 10:14:22 -05:00 · e3d73cd837
parent c2f13dbccf
commit e3d73cd837
1 changed files with 1 additions and 1 deletions
--- a/src/modules/ekf2/EKF/mag_control.cpp
+++ b/src/modules/ekf2/EKF/mag_control.cpp
@ -51,7 +51,7 @@ void Ekf::controlMagFusion()
 		if (mag_data_ready) {

 			// sensor or calibration has changed, clear any mag bias and reset low pass filter
-			if (mag_sample.reset) {
+			if (mag_sample.reset || (_mag_counter == 0)) {
 				// Zero the magnetometer bias states
 				_state.mag_B.zero();