Use yaw source change to handle compass calibration period #48
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if using GPS yaw we don't want to do a yaw reset on completion of GPS yaw, so just don't detect compass learning
This reverts commit f731921.
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merged, added to dev call topic, thanks Paul! |
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Rather than forcing continual resets of the magnetomer use variables which also resets the yaw data buffer, these changes do the following:
Remove calls to InitialiseVariablesMag() based on compass.learn_offsets_enabled();
When compass.learn_offsets_enabled() is true, disable use of magnetometer data as follows:
If yaw_source = AP_NavEKF_Source::SourceYaw::COMPASS set yaw_source to AP_NavEKF_Source::SourceYaw::NONE
if yaw_source = AP_NavEKF_Source::SourceYaw::GPS_COMPASS_FALLBACK set yaw_source to AP_NavEKF_Source::SourceYaw::GPS
Restore parameter selected yaw_source when compass.learn_offsets_enabled() is false. The EKF already resets the body frame mag bias estimates and compass data buffer if the compass offsets have changed so no additional resets should be necessary.
Replay testing on a SITL log shows that after the fix, RPY tracks the SIM values.