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Code Issues Wiki Activity

Rename MAG mode to HEADING LOCK mode; Allow to operate without compass

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Konstantin Sharlaimov (DigitalEntity) 2017-03-19 16:07:54 +10:00
parent 4f4bdbb976
commit 0e4833f41e
17 changed files with 88 additions and 93 deletions
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3
src/main/flight/imu.c
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@ -492,6 +492,9 @@ static void imuCalculateEstimatedAttitude(float dT)
// Re-initialize quaternion from known Roll, Pitch and GPS heading
imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, gpsSol.groundCourse);
gpsHeadingInitialized = true;
// Force reset of heading hold target
resetHeadingHoldTarget(DECIDEGREES_TO_DEGREES(attitude.values.yaw));
}
// If we can't use COG and there's MAG available - fallback