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EKF: Add magnetometer fusion error handling

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Paul Riseborough
2016-01-26 16:49:35 +11:00
parent 39eef3a2d7
commit 802129f384
4 changed files with 387 additions and 331 deletions
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EKF/ekf.cpp
+1 -3
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@@ -49,7 +49,6 @@ Ekf::Ekf():
_fuse_pos(false),
_fuse_hor_vel(false),
_fuse_vert_vel(false),
_mag_fuse_index(0),
_time_last_fake_gps(0),
_vel_pos_innov{},
_mag_innov{},
@@ -96,8 +95,7 @@ bool Ekf::update()
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
//fuseHeading();
fuseMag(_mag_fuse_index);
_mag_fuse_index = (_mag_fuse_index + 1) % 3;
fuseMag();
}
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {