From 5395b3823a9eebe65f1b11076554d1703c6bb8e0 Mon Sep 17 00:00:00 2001 From: bresch Date: Mon, 23 Feb 2026 15:21:27 +0100 Subject: [PATCH] ekf2: disable heading update in drag fusion --- src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp index de496a9fab..6b3f37c1fd 100644 --- a/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/drag/drag_fusion.cpp @@ -164,6 +164,10 @@ void Ekf::fuseDrag(const dragSample &drag_sample) VectorState K = P * H / innovation_variance(axis_index); + // As drag fusion is often biased (due to approximate model or changing wind), using it to update the heading estimate + // can lead to unwanted heading corrections during acceleration and deceleration phases. + K(State::quat_nominal.idx + 2) = 0.f; + measurementUpdate(K, H, R_ACC, innovation(axis_index)); } }