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ekf2: allow yaw estimator to perform yaw alignment

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This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
This commit is contained in:
Daniel Agar
2023-07-25 10:58:45 -04:00
committed by GitHub
parent 6d4ec4e623
commit 19d6e69b0b
4 changed files with 88 additions and 126 deletions
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src/modules/ekf2/test/test_EKF_yaw_estimator.cpp
+3 -3
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@@ -106,10 +106,10 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
EXPECT_LT(yaw_est_var, tolerance_rad);
// 2 resets: 1 after IMU+GNSS yaw alignment and 1 when starting GNSS aiding
// 1 reset when starting GNSS aiding
reset_logging_checker.capturePostResetState();
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(2));
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2));
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
EXPECT_TRUE(_ekf->local_position_is_valid());
EXPECT_TRUE(_ekf->global_position_is_valid());