EKF: Fix bug preventing saved declination being used for first alignment

6 years ago · df571202c5
1 changed files with 2 additions and 0 deletions
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@ -257,6 +257,8 @@ bool Ekf::initialiseFilter()
				@@ -257,6 +257,8 @@ bool Ekf::initialiseFilter()
 		Vector3f mag_init = _mag_filt_state;

 		// calculate the initial magnetic field and yaw alignment
+		// Get the magnetic declination
+		calcMagDeclination();
 		_control_status.flags.yaw_align = resetMagHeading(mag_init);

 		if (_control_status.flags.rng_hgt) {