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ekf2: allow filter init with only IMU (#21041)

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- if mag enabled heading init is now pushed to controlMagFusion()
This commit is contained in:
Daniel Agar
2023-02-13 22:07:15 -05:00
committed by GitHub
parent d69d99b191
commit 2ea25804a1
9 changed files with 798 additions and 800 deletions
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src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
+1 -1
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@@ -49,7 +49,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
estimator_aid_source1d_s unused;
fuseYaw(innovation, obs_var, unused);
_time_last_heading_fuse = 0;
_last_static_yaw = NAN;
} else if (_control_status.flags.vehicle_at_rest) {