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EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors (#831)

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* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors

* Update EKF/ekf_helper.cpp

* EKF: Fix comment typo

Co-authored-by: Roman Bapst <bapstroman@gmail.com>

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
This commit is contained in:
Paul Riseborough
2020-06-02 17:42:54 +10:00
committed by GitHub
co-authored by Roman Bapst Mathieu Bresciani
parent d0ddda8917
commit 59183f70ba
3 changed files with 15 additions and 7 deletions
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EKF/ekf_helper.cpp
+2 -1
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@@ -1858,7 +1858,8 @@ void Ekf::runYawEKFGSF()
TAS = _airspeed_sample_delayed.true_airspeed;
}
yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS);
const Vector3f imu_gyro_bias = getGyroBias();
yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
// basic sanity check on GPS velocity data
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON && ISFINITE(_gps_sample_delayed.vel(0)) && ISFINITE(_gps_sample_delayed.vel(1))) {