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GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting

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Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
This commit is contained in:
bresch
2020-06-23 08:43:48 +02:00
committed by Mathieu Bresciani
parent ff8b5ec69d
commit 3c6790f5d5
6 changed files with 45 additions and 42 deletions
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EKF/control.cpp
+2 -8
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@@ -522,20 +522,14 @@ void Ekf::controlGpsFusion()
if ((_params.fusion_mode & MASK_USE_GPSYAW)
&& ISFINITE(_gps_sample_delayed.yaw)
&& _control_status.flags.tilt_align
&& (!_control_status.flags.gps_yaw || !_control_status.flags.yaw_align)
&& !_control_status.flags.gps_yaw
&& !_gps_hgt_intermittent) {
if (resetGpsAntYaw()) {
// flag the yaw as aligned
_control_status.flags.yaw_align = true;
// turn on fusion of external vision yaw measurements and disable all other yaw fusion
_control_status.flags.gps_yaw = true;
_control_status.flags.ev_yaw = false;
_control_status.flags.mag_dec = false;
stopMagHdgFusion();
stopMag3DFusion();
startGpsYawFusion();
ECL_INFO_TIMESTAMPED("starting GPS yaw fusion");
}