ekf2-mag: with NE aiding, constrain heading drift only before takeoff

After takeoff, the heading is easily observable
PX4 · May 27, 2024 · dd0eb77 · dd0eb77
1 parent bb98040
commit dd0eb77
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Showing 3 changed files with 318 additions and 318 deletions.
diff --git a/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
@@ -180,7 +180,7 @@ void Ekf::controlMagFusion()
 
 		// if we are using 3-axis magnetometer fusion, but without external NE aiding,
 		// then the declination must be fused as an observation to prevent long term heading drift
-		const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.mag_aligned_in_flight;
+		const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air;
 		_control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff;
 
 		if (_control_status.flags.mag) {