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ekf2: stop mag fusion when there is no data anymore

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bresch
2023-02-17 08:51:55 -05:00
committed by Daniel Agar
parent deabe9a38d
commit 8ebf47edb1
2 changed files with 6 additions and 1 deletions
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src/modules/ekf2/EKF/common.h
+2 -1
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@@ -70,7 +70,8 @@ static constexpr uint64_t BARO_MAX_INTERVAL = 200e3; ///< Maximum allowable
static constexpr uint64_t EV_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between external vision system measurements (uSec)
static constexpr uint64_t GNSS_MAX_INTERVAL = 500e3; ///< Maximum allowable time interval between GNSS measurements (uSec)
static constexpr uint64_t GNSS_YAW_MAX_INTERVAL = 1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
static constexpr uint64_t RNG_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between range finder measurements (uSec)
static constexpr uint64_t RNG_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between range finder measurements (uSec)
static constexpr uint64_t MAG_MAX_INTERVAL = 500e3; ///< Maximum allowable time interval between magnetic field measurements (uSec)
// bad accelerometer detection and mitigation
static constexpr uint64_t BADACC_PROBATION = 10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)