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mag reset: force align in MC custom mode (aka. indoor mode) 

Checking the parameter is enough to decide if we want to force the yaw
alignment or not
This commit is contained in:
bresch 2021-05-11 12:04:00 +02:00 committed by Paul Riseborough
parent cadcc58415
commit fe943cf104
1 changed files with 1 additions and 1 deletions
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2
EKF/ekf_helper.cpp
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@ -503,7 +503,7 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
}
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _is_yaw_fusion_inhibited) {
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR) {
// we are operating temporarily without knowing the earth frame yaw angle
return true;