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ekf2: mag_3d check mag bias variance before allowed to update all states (orientation)

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Daniel Agar
2023-03-08 15:12:48 -05:00
committed by GitHub
parent ea20217c1b
commit 4dda5a97d8
1 changed files with 5 additions and 3 deletions
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src/modules/ekf2/EKF/mag_control.cpp
+5 -3
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@@ -452,9 +452,11 @@ void Ekf::runMagAndMagDeclFusions(const Vector3f &mag)
void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
{
// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
// before they are used to constrain heading drift
const bool update_all_states = ((_time_delayed_us - _flt_mag_align_start_time) > (uint64_t)5e6);
// sanity check mag_B before they are used to constrain heading drift
const Vector3f mag_bias_var = P.slice<3, 3>(19, 19).diag();
const bool mag_bias_var_good = (mag_bias_var.min() > 0.f) && (mag_bias_var.max() < sq(0.02f));
const bool update_all_states = _control_status.flags.mag_aligned_in_flight && mag_bias_var_good;
if (!_mag_decl_cov_reset) {
// After any magnetic field covariance reset event the earth field state