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EKF: Fix bug causing large yaw innovations when GPS is lost

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Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent f59cd0f5b0
commit adb4a09beb
2 changed files with 4 additions and 1 deletions
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EKF/ekf.h
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@@ -324,6 +324,7 @@ private:
uint8_t _num_bad_flight_yaw_events{0}; ///< number of times a bad heading has been detected in flight and required a yaw reset
uint64_t _mag_use_not_inhibit_us{0}; ///< last system time in usec before magnetomer use was inhibited
bool _mag_use_inhibit{false}; ///< true when magnetomer use is being inhibited
bool _mag_use_inhibit_prev{false}; ///< true when magnetomer use was being inhibited the previous frame
bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetomer inhibit has been active for long enough to require a yaw reset when conditons improve.
float _last_static_yaw{0.0f}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
bool _vehicle_at_rest_prev{false}; ///< true when the vehicle was at rest the previous time the status was checked