diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -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) { |