From 175faf1e4184f9000aaaf77f56ae0877ab2ffefe Mon Sep 17 00:00:00 2001 From: priseborough Date: Fri, 9 Sep 2016 09:30:22 +1000 Subject: [PATCH] AP_NavEKF2: Fix bug in published yaw reset value found during code review --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 7ce29eba0e..39aa680cbd 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -1173,8 +1173,9 @@ uint32_t NavEKF2::getLastYawResetAngle(float &yawAngDelta) core[primary].getEulerAngles(eulers_primary); if (primary != yaw_step_data.prev_instance) { // the delta is the difference between the current and previous yaw - // This overwrites any yaw reset value recorded from an internal eff reset - yaw_step_data.yaw_delta += wrap_PI(eulers_primary.z - yaw_step_data.prev_yaw); + // This overwrites any yaw reset value recorded from an internal ekf reset + // that has occured on the same time-step + yaw_step_data.yaw_delta = wrap_PI(eulers_primary.z - yaw_step_data.prev_yaw); // record the time of the yaw reset event yaw_step_data.yaw_reset_time_ms = imuSampleTime_us/1000;