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EKF: use GPS to lookup declination from WMM before full GPS checks pass

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Daniel Agar
2020-09-28 08:43:32 +02:00
committed by Mathieu Bresciani
parent 6b99ea2a60
commit 4c2355a638
7 changed files with 777 additions and 740 deletions
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EKF/mag_fusion.cpp
+2 -1
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@@ -899,9 +899,10 @@ void Ekf::limitDeclination()
float h_field_min = 0.001f;
if (_params.mag_declination_source & MASK_USE_GEO_DECL) {
// use parameter value until GPS is available, then use value returned by geo library
if (_NED_origin_initialised) {
if (_NED_origin_initialised || ISFINITE(_mag_declination_gps)) {
decl_reference = _mag_declination_gps;
h_field_min = fmaxf(h_field_min , 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
} else {
decl_reference = math::radians(_params.mag_declination_deg);
}