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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 22:00:38 +0100 |
|---|---|---|
| committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 22:00:38 +0100 |
| commit | cdbd6872ed24be85f35789fdc0c6da27152411da (patch) | |
| tree | 720bbf569f07a536c9efb4723e58036e74f60c77 | |
| parent | 1dc7d4905c1c19e6c6a35440866de375c3a929af (diff) | |
| download | px4-firmware-cdbd6872ed24be85f35789fdc0c6da27152411da.tar.gz px4-firmware-cdbd6872ed24be85f35789fdc0c6da27152411da.tar.bz2 px4-firmware-cdbd6872ed24be85f35789fdc0c6da27152411da.zip | |
AttPosEKF: Fix inverted logic for inhibitMagStates
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 0e931e666..cd0ef206e 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -2552,7 +2552,7 @@ void AttPosEKF::setOnGround(const bool isLanded) bool isMovingForward = _accNavMagHorizontal > 0.5f; // don't update magnetic field states if on ground or not using compass - inhibitMagStates = useCompass && !_onGround && (_isFixedWing || isMovingForward); + inhibitMagStates = !useCompass || _onGround) || (!_isFixedWing && !isMovingForward); // don't update terrain offset state if there is no range finder and flying at low velocity or without GPS if ((_onGround || !useGPS) && !useRangeFinder) { |