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ekf2: add unaided_yaw for more resilient yaw control

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This estimate doesn't converge to the true yaw but can be used as a
more consistent but drifting heading source.
It can be used by a setpoint generator to adjust its heading setpoint
while the true yaw estimate is converging in order to keep a constant
course over ground.
This commit is contained in:
bresch
2023-08-18 16:31:43 +02:00
committed by Mathieu Bresciani
parent 329a2d0e98
commit 0aa4afdbce
5 changed files with 13 additions and 0 deletions
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msg/VehicleLocalPosition.msg
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@@ -39,6 +39,7 @@ float32 ay # East velocity derivative in NED earth-fixed frame, (metres/s
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
float32 delta_heading
uint8 heading_reset_counter
bool heading_good_for_control