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feat(ekf2): clear heading correlation with other states when not observable

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bresch
2026-03-09 16:22:18 +01:00
committed by Mathieu Bresciani
parent 2d79b9ea38
commit 643c6fec24
9 changed files with 30 additions and 7 deletions
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msg/EstimatorStatusFlags.msg
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@@ -52,6 +52,7 @@ bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion
bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
bool cs_yaw_manual # 46 - true if yaw has been set manually
bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
bool cs_heading_observable # 49 - true when heading is observable
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes