diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp index de9bb75884..ac82c39a11 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp @@ -418,6 +418,9 @@ void NavEKF3_core::detectFlight() EKFGSF_yaw_reset_request_ms = 0; EKFGSF_yaw_reset_count = 0; EKFGSF_run_filterbank = true; + Vector3f gyroBias; + getGyroBias(gyroBias); + yawEstimator->setGyroBias(gyroBias); } // store current on-ground and in-air status for next time