EKF: Don't fuse multi rotor drag if yaw angle is bad

7 years ago · 4889e8432c
1 changed files with 2 additions and 1 deletions
--- a/EKF/control.cpp
+++ b/EKF/control.cpp
@ -1199,7 +1199,8 @@ void Ekf::controlBetaFusion()
				@@ -1199,7 +1199,8 @@ void Ekf::controlBetaFusion()
 void Ekf::controlDragFusion()
 {
 	if (_params.fusion_mode & MASK_USE_DRAG) {
-		if (_control_status.flags.in_air) {
+		if (_control_status.flags.in_air
+				&& !_mag_inhibit_yaw_reset_req) {
 			if (!_control_status.flags.wind) {
 				// reset the wind states and covariances when starting drag accel fusion
 				_control_status.flags.wind = true;