AttPosEKF: Fix inverted logic for inhibitMagStates

RomanBapst · Mar 8, 2015 · cdbd687 · cdbd687
1 parent 1dc7d49
commit cdbd687
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp
@@ -2552,7 +2552,7 @@ void AttPosEKF::setOnGround(const bool isLanded)
     bool isMovingForward = _accNavMagHorizontal > 0.5f;
 
     // don't update magnetic field states if on ground or not using compass
-    inhibitMagStates = useCompass && !_onGround && (_isFixedWing || isMovingForward);
+    inhibitMagStates = !useCompass || _onGround) || (!_isFixedWing && !isMovingForward);
 
     // don't update terrain offset state if there is no range finder and flying at low velocity or without GPS
     if ((_onGround || !useGPS) && !useRangeFinder) {