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EKF: Fix bugs preventing use of external vision yaw data

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This commit is contained in:
Paul Riseborough
2016-05-14 16:10:34 +09:30
parent 13c3a95bc1
commit 920d83d68c
3 changed files with 24 additions and 7 deletions
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EKF/control.cpp
+11 -2
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@@ -86,7 +86,7 @@ void Ekf::controlExternalVisionAiding()
}
// external vision yaw aiding selection logic
if ((_params.mag_fusion_type == USE_EV_YAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
if ((_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// reset the yaw angle to the value from the observaton quaternion
@@ -107,8 +107,12 @@ void Ekf::controlExternalVisionAiding()
// flag the yaw as aligned
_control_status.flags.yaw_align = true;
// turn on fusion of external vision yaw measurements
// turn on fusion of external vision yaw measurements and disable all magnetoemter fusion
_control_status.flags.ev_yaw = true;
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_3D = false;
_control_status.flags.mag_dec = false;
printf("EKF switching to external vision yaw fusion\n");
}
}
@@ -462,6 +466,11 @@ void Ekf::controlHeightAiding()
void Ekf::controlMagAiding()
{
// If we are using external vision data for heading then no magnetometer fusion is used
if (_control_status.flags.ev_yaw) {
return;
}
// Determine if we should use simple magnetic heading fusion which works better when there are large external disturbances
// or the more accurate 3-axis fusion
if (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTO) {