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fix(ekf2): move constant_pos gating to common_condition

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This commit is contained in:
Marco Hauswirth
2026-05-08 13:55:26 +02:00
committed by Marco Hauswirth
parent bcbb529339
commit e6c7cb62c0
1 changed files with 4 additions and 5 deletions
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src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
+4 -5
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@@ -186,17 +186,16 @@ void Ekf::controlMagFusion(const imuSample &imu_sample)
&& !_control_status.flags.mag_field_disturbed
&& !_control_status.flags.ev_yaw
&& !_control_status.flags.gnss_yaw
&& (!_control_status.flags.yaw_manual || _control_status.flags.mag_aligned_in_flight);
&& (!_control_status.flags.yaw_manual || _control_status.flags.mag_aligned_in_flight)
&& !_control_status.flags.constant_pos;
_control_status.flags.mag_3D = common_conditions_passing
&& (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO))
&& _control_status.flags.mag_aligned_in_flight
&& !_control_status.flags.constant_pos;
&& _control_status.flags.mag_aligned_in_flight;
_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::AUTO) && !_control_status.flags.mag_3D))
&& !_control_status.flags.constant_pos;
|| (_params.ekf2_mag_type == static_cast<int32_t>(MagFuseType::AUTO) && !_control_status.flags.mag_3D));
}
if (_control_status.flags.mag_3D && !_control_status_prev.flags.mag_3D) {