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ekf2: GNSS yaw only reset test ratio for new samples

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- otherwise external test ratio monitoring could trigger a false positive
This commit is contained in:
Daniel Agar
2023-03-14 21:49:24 -04:00
parent e375e02974
commit 19a2b4ec31
1 changed files with 4 additions and 3 deletions
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src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+4 -3
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@@ -48,10 +48,11 @@
void Ekf::updateGpsYaw(const gpsSample &gps_sample) void Ekf::updateGpsYaw(const gpsSample &gps_sample)
{ {
auto &gnss_yaw = _aid_src_gnss_yaw;
resetEstimatorAidStatus(gnss_yaw);
if (PX4_ISFINITE(gps_sample.yaw)) { if (PX4_ISFINITE(gps_sample.yaw)) {
auto &gnss_yaw = _aid_src_gnss_yaw;
resetEstimatorAidStatus(gnss_yaw);
// initially populate for estimator_aid_src_gnss_yaw logging // initially populate for estimator_aid_src_gnss_yaw logging
// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement