GNSS yaw: allow unlimited resets on ground

4 years ago · 30c7a596af
1 changed files with 4 additions and 1 deletions
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@ -784,7 +784,10 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
				@@ -784,7 +784,10 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
 					if (_nb_gps_yaw_reset_available > 0) {
 						// Data seems good, attempt a reset
 						resetYawToGps();
+
+						if (_control_status.flags.in_air) {
 							_nb_gps_yaw_reset_available--;
+						}

 					} else if (starting_conditions_passing) {
 						// Data seems good, but previous reset did not fix the issue