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EKF: enable user selection of auto mag free operation

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Also modify check to not apply if EV yaw is being used.
This commit is contained in:
Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 6bdbe032f9
commit 487e6a0901
2 changed files with 9 additions and 2 deletions
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EKF/control.cpp
+8 -2
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@@ -1408,8 +1408,14 @@ void Ekf::controlMagFusion()
_control_status.flags.mag_dec = false;
}
// If GPS is not being used and there is no other earth frame aiding, assume that we are operating indoors and the magnetometer is unreliable.
if ((!_control_status.flags.gps || !(_params.fusion_mode & MASK_USE_GPS)) && !_control_status.flags.ev_pos) {
// If the user has selected auto protection against indoor magnetic field errors, only use the magnetomer
// if a yaw angle relative to true North is required for navigation. If no GPS or other earth frame aiding
// is available, assume that we are operating indoors and the magnetometer should not be used.
bool user_selected = (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR);
bool not_using_gps = !(_params.fusion_mode & MASK_USE_GPS) || !_control_status.flags.gps;
bool not_using_evpos = !(_params.fusion_mode & MASK_USE_EVPOS) || !_control_status.flags.ev_pos;
bool not_selected_evyaw = !(_params.fusion_mode & MASK_USE_EVYAW);
if (user_selected && not_using_gps && not_using_evpos && not_selected_evyaw) {
_mag_use_inhibit = true;
} else {
_mag_use_inhibit = false;