mag reset: force align in MC custom mode (aka. indoor mode)

Checking the parameter is enough to decide if we want to force the yaw alignment or not
PX4 · May 11, 2021 · 5ac4e00 · 5ac4e00
1 parent d5a41d4
commit 5ac4e00
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
@@ -503,7 +503,7 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
 			yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
 		}
 
-	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _is_yaw_fusion_inhibited) {
+	} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR) {
 		// we are operating temporarily without knowing the earth frame yaw angle
 		return true;