From 7f340d620496355ba965ce05a84cd5762bb1ac3a Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Sat, 12 Apr 2025 15:24:45 +0200
Subject: [PATCH] [Parafoil] NAS: Disable magnetometer correction
---
src/Parafoil/StateMachines/NASController/NASController.cpp | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/src/Parafoil/StateMachines/NASController/NASController.cpp b/src/Parafoil/StateMachines/NASController/NASController.cpp
index bc8de17fa..1f4691608 100644
--- a/src/Parafoil/StateMachines/NASController/NASController.cpp
+++ b/src/Parafoil/StateMachines/NASController/NASController.cpp
@@ -282,7 +282,8 @@ void NASController::update()
// Perform initial NAS prediction
nas.predictGyro(imu);
nas.predictAcc(imu);
- nas.correctMag(imu);
+ // Disable Magnetometer as it works terribly! DO NOT USE
+ // nas.correctMag(imu);
if (lastGpsTimestamp < gps.gpsTimestamp && gps.fix == 3 &&
accLength < Config::NAS::DISABLE_GPS_ACCELERATION_THRESHOLD)
--
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