Copter: save EKF learned compass to primary compass

10 years ago · fea7632eac
1 changed files with 2 additions and 2 deletions
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@ -657,8 +657,8 @@ static void init_disarm_motors()
    // save compass offsets learned by the EKF
    Vector3f magOffsets;
-    if (ahrs.getMagOffsets(magOffsets)) {
+    if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
-        compass.set_and_save_offsets(0,magOffsets);
+        compass.set_and_save_offsets(compass.get_primary(), magOffsets);
    }
 #if AUTOTUNE_ENABLED == ENABLED