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EKF: get status on yaw alignement in flight

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1s after the in air mag reset is performed, the final yaw alignment is
complete and the yaw estimate can be used for yaw control.
This commit is contained in:
bresch 2021-10-19 15:22:30 +02:00 committed by Daniel Agar
parent 2a5751233a
commit 394fa953b8
1 changed files with 10 additions and 0 deletions
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10
src/modules/ekf2/EKF/ekf.h
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@ -215,6 +215,16 @@ public:
bool isTerrainEstimateValid() const { return _hagl_valid; };
bool isYawFinalAlignComplete() const
{
const bool is_using_mag = (_control_status.flags.mag_3D || _control_status.flags.mag_hdg);
const bool is_mag_alignment_in_flight_complete = is_using_mag
&& _control_status.flags.mag_aligned_in_flight
&& ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)1e6);
return _control_status.flags.yaw_align
&& (is_mag_alignment_in_flight_complete || !is_using_mag);
}
uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; }
// get the estimated terrain vertical position relative to the NED origin