EKF: Split tilt and yaw align

EKF/control.cpp

@@ -53,9 +53,9 @@ void Ekf::controlFusionModes()
 	_control_status.flags.opt_flow = false;
 
 	// GPS fusion mode selection logic
-	// To start use GPS we need angular alignment completed, the local NED origin set and fresh GPS data
+	// To start using GPS we need tilt and yaw alignment completed, the local NED origin set and fresh GPS data
 	if (!_control_status.flags.gps) {
-		if (_control_status.flags.angle_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
+		if (_control_status.flags.tilt_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
 		    && (_time_last_imu - _last_gps_fail_us > 5e6)) {
 			_control_status.flags.gps = true;
 			resetPosition();

EKF/ekf.cpp

@@ -143,15 +143,18 @@ bool Ekf::update()
 
 	// Fuse magnetometer data using the selected fuson method and only if angular alignment is complete
 	if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
-		if (_control_status.flags.mag_3D && _control_status.flags.angle_align) {
+		if (_control_status.flags.mag_3D && _control_status.flags.yaw_align) {
 			fuseMag();
 
 			if (_control_status.flags.mag_dec) {
 				fuseDeclination();
 			}
 
-		} else if (_control_status.flags.mag_hdg && _control_status.flags.angle_align) {
+		} else if (_control_status.flags.mag_hdg && _control_status.flags.yaw_align) {
 			fuseHeading();
+
+		} else {
+			// do no fusion at all
 		}
 	}