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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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src/modules/ekf2/EKF/mag_3d_control.cpp
+1
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@@ -63,6 +63,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
_control_status.flags.mag_3D = (_params.mag_fusion_type == MagFuseType::AUTO)
&& _control_status.flags.mag
&& _control_status.flags.mag_aligned_in_flight
&& (_control_status.flags.mag_heading_consistent || !_control_status.flags.gps)
&& !_control_status.flags.mag_fault
&& isRecent(aid_src.time_last_fuse, 500'000)
&& getMagBiasVariance().longerThan(0.f) && !getMagBiasVariance().longerThan(sq(0.02f))