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fix(ekf2): use HAGL validity for range height ref

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Wang Jiayue
2026-06-02 14:14:20 +08:00
committed by Ramon Roche
parent cac770e333
commit 48bc4a8576
1 changed files with 2 additions and 1 deletions
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3
src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
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@@ -380,7 +380,8 @@ bool Ekf::checkHaglYawResetReq() const
// Check if height has increased sufficiently to be away from ground magnetic anomalies
// and request a yaw reset if not already requested.
static constexpr float mag_anomalies_max_hagl = 1.5f;
return isHeightAboveGroundEstimateValid() && (getHagl() > mag_anomalies_max_hagl);
const bool above_mag_anomalies = (getTerrainVPos() + _gpos.altitude()) > mag_anomalies_max_hagl;
return above_mag_anomalies;
}
#endif // CONFIG_EKF2_TERRAIN