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AP_NavEKF2: Fix bug in published yaw reset value found during code review

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priseborough authored and Randy Mackay committed 2016-09-13 17:35:18 +09:00
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commit 175faf1e41
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+3 -2
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libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@@ -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;