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mag fusion: improve on ground forced mag fusion logic

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While a yaw test ration > 1 rejects the mag data in air, the fusion is
forced with a limited innovation on ground to fix gyro bias and local
magnetic effects problems pre-takeoff. However, the same logic is
applied after landing and immediately after the land detector detects
landing. In some cases, this can disturb the other EKF states which can
lead to a state change of the land detector.
To avoid such a loop, the start of this forced yaw fusion is delayed by
5 seconds after landing.
This commit is contained in:
bresch
2021-02-18 10:11:51 +01:00
committed by Mathieu Bresciani
parent 310f415175
commit b00d4a9237
3 changed files with 11 additions and 5 deletions
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EKF/ekf.h
+2 -1
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@@ -959,7 +959,8 @@ private:
EKFGSF_yaw _yawEstimator;
int64_t _ekfgsf_yaw_reset_time{0}; ///< timestamp of last emergency yaw reset (uSec)
uint64_t _time_last_on_ground_us{0}; ///< last tine we were on the ground (uSec)
uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
bool _do_ekfgsf_yaw_reset{false}; // true when an emergency yaw reset has been requested
uint8_t _ekfgsf_yaw_reset_count{0}; // number of times the yaw has been reset to the EKF-GSF estimate