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ekf2: GNSS yaw, use reported yaw accuracy when available

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bresch
2022-11-22 09:59:31 -05:00
committed by Daniel Agar
parent b25bc1b982
commit 60c448ce3a
4 changed files with 11 additions and 3 deletions
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src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+1 -3
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@@ -57,9 +57,7 @@ void Ekf::updateGpsYaw(const gpsSample &gps_sample)
// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement
const float measured_hdg = wrap_pi(gps_sample.yaw + _gps_yaw_offset);
// using magnetic heading process noise
// TODO extend interface to use yaw uncertainty provided by GPS if available
const float R_YAW = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
const float R_YAW = sq(fmaxf(gps_sample.yaw_acc, _params.gps_heading_noise));
float heading_innov;
float heading_innov_var;