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ekf2_main.cpp: fixed bug in the calculation of the mag bias calibration time

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2020-03-10 09:29:34 +03:00
committed by Mathieu Bresciani
parent e43aa4e287
commit 4ddf0f9dc1
1 changed files with 5 additions and 0 deletions
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5
src/modules/ekf2/ekf2_main.cpp
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@@ -1551,6 +1551,11 @@ void Ekf2::Run()
for (bool &cal_available : _valid_cal_available) {
cal_available = false;
}
} else {
// conditions are NOT OK for learning magnetometer bias, reset timestamp
// but keep the accumulated calibration time
_last_magcal_us = now;
}
// Start checking mag bias estimates when we have accumulated sufficient calibration time