fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 02:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: update mag LPF immediately

Browse Source
This commit is contained in:
Daniel Agar
2020-12-17 10:46:04 +01:00
committed by Mathieu Bresciani
parent 398fe159ce
commit a8e0e82858
3 changed files with 2 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/control.cpp
+2
View File
@@ -97,6 +97,8 @@ void Ekf::controlFusionModes()
_mag_data_ready = _mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed);
if (_mag_data_ready) {
_mag_lpf.update(_mag_sample_delayed.mag);
// if enabled, use knowledge of theoretical magnetic field vector to calculate a synthetic magnetomter Z component value.
// this is useful if there is a lot of interference on the sensor measurement.
if (_params.synthesize_mag_z && (_params.mag_declination_source & MASK_USE_GEO_DECL) && (_NED_origin_initialised || ISFINITE(_mag_declination_gps))) {