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EKF2: improve resilience against incorrect mag data

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- when GNSS is used require low mag heading innovations during
  horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
  variance to a sane value. Leave enough uncertainty to allow for a
  correction when the yaw is observable through GNSS fusion
This commit is contained in:
Mathieu Bresciani
2023-08-17 09:55:15 -04:00
committed by GitHub
parent eaad11bb74
commit 74a54b3b12
15 changed files with 685 additions and 636 deletions
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msg/EstimatorStatusFlags.msg
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@@ -41,6 +41,7 @@ bool cs_fake_hgt # 33 - true when fake height measurements are be
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes