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Merged in f5soh/librepilot/LP-273_Reset_Mag_Alarm (pull request )

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LP-273 Reinit Mag alarm while switching to Complementary
This commit is contained in:
Philippe Renon 2016-04-04 21:26:38 +02:00
commit d916fde887
1 changed files with 3 additions and 1 deletions

4
flight/modules/StateEstimation/stateestimation.c

@ -383,6 +383,8 @@ static void StateEstimationCb(void)
switch ((RevoSettingsFusionAlgorithmOptions)revoSettings.FusionAlgorithm) { switch ((RevoSettingsFusionAlgorithmOptions)revoSettings.FusionAlgorithm) {
case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY: case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
newFilterChain = cfQueue; newFilterChain = cfQueue;
// reinit Mag alarm
AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_UNINITIALISED);
break; break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG: case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
newFilterChain = cfmiQueue; newFilterChain = cfmiQueue;
@ -414,7 +416,7 @@ static void StateEstimationCb(void)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR); AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return; return;
} else { } else {
// set new fusion algortithm // set new fusion algorithm
filterChain = newFilterChain; filterChain = newFilterChain;
fusionAlgorithm = revoSettings.FusionAlgorithm; fusionAlgorithm = revoSettings.FusionAlgorithm;
} }