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ekf2: Only reset to GNSS heading if necessary

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When North-East (e.g.: GNSS pos/vel) aiding is active, the heading
estimate is constrained and consistent with the vel/pos aiding. Reset to
GNSS heading should only occur if no N-E aiding is active or if the
filter is not yes aligned. Otherwise, just wait for the consistency
check to pass again (will pass at some point if the heading uncertainty
of the filter is getting too high).
This commit is contained in:
bresch
2024-04-29 07:22:01 -07:00
committed by Daniel Agar
parent 6435e25929
commit 9dc7719d4a
3 changed files with 30 additions and 39 deletions
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src/modules/ekf2/EKF/ekf.h
-1
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@@ -672,7 +672,6 @@ private:
# if defined(CONFIG_EKF2_GNSS_YAW)
estimator_aid_source1d_s _aid_src_gnss_yaw{};
uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source
# endif // CONFIG_EKF2_GNSS_YAW
#endif // CONFIG_EKF2_GNSS