AP_NavEKF: Fix bug causing magnetic field state learning to be forgotten

10 years ago · 73a06cd0c1
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -708,7 +708,7 @@ void NavEKF::UpdateFilter()
				@@ -708,7 +708,7 @@ void NavEKF::UpdateFilter()
            state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
            firstArmPosD = state.position.z;
        }
-        calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
+        // zero stored velocities used to do dead-reckoning
        heldVelNE.zero();
        // When entering static mode (dis-arming), clear the GPS inhibit mode
        // when leaving static mode (arming) set to true if EKF user parameter is set to not use GPS