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ekf2: limit mag heading fusion to prevent heading overconfidence

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bresch 2024-03-26 14:43:20 +01:00 committed by Daniel Agar
parent 51883fe5d4
commit 2f51db7284
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF/mag_3d_control.cpp
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@ -120,7 +120,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
// The normal sequence is to fuse the magnetometer data first before fusing
// declination angle at a higher uncertainty to allow some learning of
// declination angle over time.
const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
const bool update_all_states = _control_status.flags.mag_3D || (_control_status.flags.mag_hdg && (getYawVar() > sq(_params.mag_heading_noise / 2.f)));
const bool update_tilt = _control_status.flags.mag_3D;
fuseMag(mag_sample.mag, aid_src, update_all_states, update_tilt);