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ekf2: increase yaw estimator heading fusion rate

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This commit is contained in:
Daniel Agar
2022-04-25 10:26:49 -04:00
parent 7553aec3e0
commit 34a911fa18
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/gps_control.cpp
+2 -2
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@@ -68,8 +68,8 @@ void Ekf::controlGpsFusion()
// periodically fuse yaw estimate if necessary
if (isYawEmergencyEstimateAvailable()
&& _control_status.flags.yaw_align
&& isTimedOut(_ekfgsf_yaw_reset_time, 1'000'000)
&& isTimedOut(_time_last_heading_fuse, (uint64_t)500'000)) {
&& isTimedOut(_ekfgsf_yaw_reset_time, 500'000)
&& isTimedOut(_time_last_heading_fuse, (uint64_t)300'000)) {
float innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yawEstimator.getYaw());
float obs_var = _yawEstimator.getYawVar();