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EKF: Ensure yaw gets reset when declination is set

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Paul Riseborough
2018-11-15 07:16:31 +11:00
committed by Paul Riseborough
parent 68a3cbc368
commit 4657a9cd21
4 changed files with 53 additions and 39 deletions
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EKF/ekf.h
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@@ -339,6 +339,7 @@ private:
bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetomer inhibit has been active for long enough to require a yaw reset when conditons improve.
float _last_static_yaw{0.0f}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
bool _vehicle_at_rest_prev{false}; ///< true when the vehicle was at rest the previous time the status was checked
bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetomer data has been requested
float P[_k_num_states][_k_num_states] {}; ///< state covariance matrix