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EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes

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This commit is contained in:
bresch
2021-08-05 11:10:02 +02:00
committed by Mathieu Bresciani
parent 4ebfbc6eab
commit 11cd51c132
4 changed files with 30 additions and 18 deletions
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src/modules/ekf2/EKF/gps_checks.cpp
+3 -9
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@@ -91,15 +91,9 @@ bool Ekf::collect_gps(const gps_message &gps)
_mag_strength_gps = get_mag_strength_gauss(lat, lon);
// request a reset of the yaw using the new declination
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
// try to reset the yaw using the EKF-GSF yaw estimator
_do_ekfgsf_yaw_reset = true;
_ekfgsf_yaw_reset_time = 0;
} else {
if (!declination_was_valid) {
_mag_yaw_reset_req = true;
}
if ((_params.mag_fusion_type != MAG_FUSE_TYPE_NONE)
&& !declination_was_valid) {
_mag_yaw_reset_req = true;
}
// save the horizontal and vertical position uncertainty of the origin