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fix(ekf2): disable mag fusion while constant_pos is active

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This commit is contained in:
Marco Hauswirth
2026-05-07 10:44:48 +02:00
committed by Marco Hauswirth
parent df05252c74
commit bcbb529339
1 changed files with 4 additions and 2 deletions
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src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+4 -2
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@@ -190,11 +190,13 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
_control_status.flags.mag_3D = common_conditions_passing _control_status.flags.mag_3D = common_conditions_passing
&& (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO)) && (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO))
&& _control_status.flags.mag_aligned_in_flight; && _control_status.flags.mag_aligned_in_flight
&& !_control_status.flags.constant_pos;
_control_status.flags.mag_hdg = common_conditions_passing _control_status.flags.mag_hdg = common_conditions_passing
&& ((_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::HEADING)) && ((_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::HEADING))
|| (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO) && !_control_status.flags.mag_3D)); || (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO) && !_control_status.flags.mag_3D))
&& !_control_status.flags.constant_pos;
} }
if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) { if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) {