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EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing

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Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 84516760c0
commit 0160aaa568
4 changed files with 29 additions and 3 deletions
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EKF/ekf.h
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@@ -322,6 +322,9 @@ private:
bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable
uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation moaneouvre was detected
uint8_t _num_bad_flight_yaw_events{0}; ///< number of times a bad heading has been detected in flight and required a yaw reset
uint64_t _mag_use_not_inhibit_us{0}; ///< last system time in usec before magnetomer use was inhibited
bool _mag_use_inhibit{false}; ///< true when magnetomer use is being inhibited
bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetomer inhibit has been active for long enough to require a yaw reset when conditons improve.
float P[_k_num_states][_k_num_states] {}; ///< state covariance matrix