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Use strength in Gauss #933

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Nov 10, 2020
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Use strength in Gauss #933

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4 changes: 2 additions & 2 deletions EKF/gps_checks.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// set the magnetic field data returned by the geo library using the current GPS position
_mag_declination_gps = get_mag_declination_radians(lat, lon);
_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
_mag_strength_gps = get_mag_strength_tesla(lat, lon);
_mag_strength_gps = get_mag_strength_gauss(lat, lon);

// request a reset of the yaw using the new declination
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
Expand Down Expand Up @@ -124,7 +124,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// set the magnetic field data returned by the geo library using the current GPS position
_mag_declination_gps = get_mag_declination_radians(lat, lon);
_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
_mag_strength_gps = get_mag_strength_tesla(lat, lon);
_mag_strength_gps = get_mag_strength_gauss(lat, lon);

// request mag yaw reset if there's a mag declination for the first time
if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) {
Expand Down