EKF: record yaw alignment event during initialisation to allow heading fusion to start early

This ensures bad yaw gyro biases are compensated for early, rather than waiting for the tilt alignment to fully converge before fusing heading.
9 years ago · b9a3712ccb
1 changed files with 1 additions and 1 deletions
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@ -511,7 +511,7 @@ bool Ekf::initialiseFilter(void)
 		Vector3f mag_init = _mag_filt_state;
 		// calculate the initial magnetic field and yaw alignment
-		resetMagHeading(mag_init);
+		_control_status.flags.yaw_align = resetMagHeading(mag_init);
 		// if we are using the range finder as the primary source, then calculate the baro height at origin so  we can use baro as a backup
 		// so it can be used as a backup ad set the initial height using the range finder