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Update attitude_estimator_so3_comp_main.cpp #403

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Update attitude_estimator_so3_comp_main.cpp #403

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2 changes: 1 addition & 1 deletion src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -236,7 +236,7 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
}

//! If magnetometer measurement is available, use it.
if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
if((mx != 0.0f) && (my != 0.0f) && (mz != 0.0f)) {
float hx, hy, hz, bx, bz;
float halfwx, halfwy, halfwz;

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