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mag_control: fuse fake heading during leveling fine alignment (#17964)

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Co-authored-by: Daniel Agar <daniel@agar.ca>
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Mathieu Bresciani
2021-07-27 11:50:50 +02:00
committed by GitHub
co-authored by Daniel Agar
parent f2ae8ae814
commit 17ebcd2456
5 changed files with 765 additions and 755 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -395,7 +395,7 @@ private:
uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation manoeuvre 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 magnetometer use was inhibited
float _last_static_yaw{0.0f}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
float _last_static_yaw{NAN}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetometer inhibit has been active for long enough to require a yaw reset when conditions improve.
bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetometer data has been requested