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ekf2: expand accel bias stability criteria

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Daniel Agar
2022-01-04 13:57:49 -05:00
parent 846f807eff
commit 170849c8f8
5 changed files with 73 additions and 52 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -244,6 +244,8 @@ public:
Vector3f getAccelBiasVariance() const { return Vector3f{P(13, 13), P(14, 14), P(15, 15)} / sq(_dt_ekf_avg); } // get the accelerometer bias variance in m/s**2
Vector3f getMagBiasVariance() const { return Vector3f{P(19, 19), P(20, 20), P(21, 21)}; }
bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; }
// get GPS check status
void get_gps_check_status(uint16_t *val) const { *val = _gps_check_fail_status.value; }