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EKF: Split angular alignment into tilt and yaw and use yaw and magnetic field alignment function

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This commit is contained in:
Paul Riseborough
2016-02-14 22:01:53 +01:00
committed by Roman
parent 2bbe7f9a1c
commit aa58b3e98c
2 changed files with 17 additions and 26 deletions
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EKF/common.h
+9 -8
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@@ -211,14 +211,15 @@ union gps_check_fail_status_u {
// bitmask containing filter control status
union filter_control_status_u {
struct {
uint8_t angle_align : 1; // 0 - true if the filter angular alignment is complete
uint8_t gps : 1; // 1 - true if GPS measurements are being fused
uint8_t opt_flow : 1; // 2 - true if optical flow measurements are being fused
uint8_t mag_hdg : 1; // 3 - true if a simple magnetic heading is being fused
uint8_t mag_3D : 1; // 4 - true if 3-axis magnetometer measurement are being fused
uint8_t mag_dec : 1; // 5 - true if synthetic magnetic declination measurements are being fused
uint8_t in_air : 1; // 6 - true when the vehicle is airborne
uint8_t armed : 1; // 7 - true when the vehicle motors are armed
uint8_t tilt_align : 1; // 0 - true if the filter tilt alignment is complete
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
} flags;
uint16_t value;
};