From 0f62dbf6ed7e2e63f53b69c7218b06c917417a7d Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 25 Aug 2014 17:19:16 +1000
Subject: [PATCH] AP_NavEKF : Clear compass fail on transition between armed
and disarmed
This allows a compass that has been declared failed, possibly because of
external disturbances (eg movement of hatches, proximity of tools, etc)
to be given a second chance when the vehicle is armed.
---
libraries/AP_NavEKF/AP_NavEKF.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 931d20a17..88c56e364 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -608,6 +608,9 @@ void NavEKF::UpdateFilter()
ResetPosition();
ResetHeight();
StoreStatesReset();
+ // clear the magnetometer failed status as the failure may have been
+ // caused by external field disturbances associated with pre-flight activities
+ magFailed = false;
calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
prevStaticMode = staticMode;
}
--
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