ekf2: mag control reset filtered test ratio on start (if aligning yaw)

ThunderFly-aerospace · Jun 20, 2024 · 30ce560 · 30ce560
1 parent dcb1103
commit 30ce560
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -245,6 +245,7 @@ void Ekf::controlMagFusion()
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
+						resetAidSourceStatusZeroInnovation(aid_src);
 					}
 
 					_control_status.flags.mag = true;