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Code Issues Releases Activity

AHRS: Accidentally was using mags when in indoor_nomag mode

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2159 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-11-26 15:57:13 +00:00 committed by peabody124
parent 6a33043297
commit b3251e2cfb
1 changed files with 2 additions and 2 deletions
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4
flight/AHRS/ahrs.c
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@ -245,8 +245,8 @@ void ins_indoor_update()
INSPosVelReset(vel,vel);
else
sensors = HORIZ_SENSORS | VERT_SENSORS;
if(mag_data.updated) {
if(mag_data.updated && (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR)) {
sensors |= MAG_SENSORS;
mag_data.updated = false;
}