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ekf2: magless mode increase yaw estimator yaw fusion rate

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Daniel Agar
2022-04-23 11:56:33 -04:00
parent fd9a1a8b1c
commit 7553aec3e0
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/gps_control.cpp
+1 -1
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@@ -69,7 +69,7 @@ void Ekf::controlGpsFusion()
if (isYawEmergencyEstimateAvailable()
&& _control_status.flags.yaw_align
&& isTimedOut(_ekfgsf_yaw_reset_time, 1'000'000)
&& isTimedOut(_time_last_heading_fuse, (uint64_t)1'000'000)) {
&& isTimedOut(_time_last_heading_fuse, (uint64_t)500'000)) {
float innovation = wrap_pi(getEulerYaw(_R_to_earth) - _yawEstimator.getYaw());
float obs_var = _yawEstimator.getYawVar();