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EKF: Add method to fuse horizontal magnetometer data

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This method is more suitable than a raw heading measurement because it works across a full range of pitch angles.
It has been made the default for ground operation.
This commit is contained in:
Paul Riseborough
2016-02-20 19:45:32 +11:00
parent 6df6ac0023
commit a711632017
5 changed files with 239 additions and 21 deletions
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EKF/common.h
+9 -7
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@@ -163,8 +163,9 @@ struct parameters {
// Integer definitions for mag_fusion_type
#define MAG_FUSE_TYPE_AUTO 0 // The selection of either heading or 3D magnetometer fusion will be automatic
#define MAG_FUSE_TYPE_HEADING 1 // Magnetic heading fusion will alays be used. This is less accurate, but less affected by earth field distortions
#define MAG_FUSE_TYPE_HEADING 1 // Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
#define MAG_FUSE_TYPE_3D 2 // Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
#define MAG_FUSE_TYPE_2D 3 // A 2D fusion that uses the horizontal projection of the magnetic fields measurement will alays be used. This is less accurate, but less affected by earth field distortions.
struct stateSample {
Vector3f ang_error; // attitude axis angle error (error state formulation)
@@ -215,12 +216,13 @@ union filter_control_status_u {
uint8_t yaw_align : 1; // 1 - true if the filter yaw alignment is complete
uint8_t gps : 1; // 2 - true if GPS measurements are being fused
uint8_t opt_flow : 1; // 3 - true if optical flow measurements are being fused
uint8_t mag_hdg : 1; // 4 - true if a simple magnetic heading is being fused
uint8_t mag_3D : 1; // 5 - true if 3-axis magnetometer measurement are being fused
uint8_t mag_dec : 1; // 6 - true if synthetic magnetic declination measurements are being fused
uint8_t in_air : 1; // 7 - true when the vehicle is airborne
uint8_t armed : 1; // 8 - true when the vehicle motors are armed
uint8_t wind : 1; // 9 - true when wind velocity is being estimated
uint8_t mag_hdg : 1; // 4 - true if a simple magnetic yaw heading is being fused
uint8_t mag_2D : 1; // 5 - true if the horizontal projection of magnetometer data is being fused
uint8_t mag_3D : 1; // 6 - true if 3-axis magnetometer measurement are being fused
uint8_t mag_dec : 1; // 7 - true if synthetic magnetic declination measurements are being fused
uint8_t in_air : 1; // 8 - true when the vehicle is airborne
uint8_t armed : 1; // 9 - true when the vehicle motors are armed
uint8_t wind : 1; // 10 - true when wind velocity is being estimated
} flags;
uint16_t value;
};