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ekf2-mag: do not limit the earth mag field estimate

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The EKF can recover from an initial bad earth mag field estimate.
Constraining the field is not necessary and can lead to an unpredicted
behavior of the filter.
Declination fusion is safe to run even when the horizontal field is 0
This commit is contained in:
bresch
2024-05-31 10:38:17 -04:00
committed by Daniel Agar
parent 774b6ed3b8
commit 6515935b52
2 changed files with 0 additions and 78 deletions
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src/modules/ekf2/EKF/ekf.h
-2
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@@ -763,8 +763,6 @@ private:
// argument passed in is the declination uncertainty in radians
bool fuseDeclination(float decl_sigma);
// apply sensible limits to the declination and length of the NE mag field states estimates
void limitDeclination();
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_AIRSPEED)