From b1747c58c2104b4937dbe8480b7e7c8b7661a43a Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh@free.fr>
Date: Sat, 2 Apr 2016 00:11:01 +0200
Subject: [PATCH] LP-273 Reinit Mag alarm while switching to Complementary

---
 flight/modules/StateEstimation/stateestimation.c | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c
index 60ed1149b..bde280636 100644
--- a/flight/modules/StateEstimation/stateestimation.c
+++ b/flight/modules/StateEstimation/stateestimation.c
@@ -383,6 +383,8 @@ static void StateEstimationCb(void)
             switch ((RevoSettingsFusionAlgorithmOptions)revoSettings.FusionAlgorithm) {
             case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
                 newFilterChain = cfQueue;
+                // reinit Mag alarm
+                AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_UNINITIALISED);
                 break;
             case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
                 newFilterChain = cfmiQueue;
@@ -414,7 +416,7 @@ static void StateEstimationCb(void)
                 AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
                 return;
             } else {
-                // set new fusion algortithm
+                // set new fusion algorithm
                 filterChain     = newFilterChain;
                 fusionAlgorithm = revoSettings.FusionAlgorithm;
             }