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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/mag_fusion.cpp
+6 -4
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@@ -646,13 +646,15 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
// if we are in air we don't want to fuse the measurement
// we allow to use it when on the ground because the large innovation could be caused
// by interference or a large initial gyro bias
if (_control_status.flags.in_air) {
return;
} else {
if (!_control_status.flags.in_air && isTimedOut(_time_last_in_air, (uint64_t)5e6)) {
// constrain the innovation to the maximum set by the gate
// we need to delay this forced fusion to avoid starting it
// immediately after touchdown, when the drone is still armed
float gate_limit = sqrtf((sq(gate_sigma) * _heading_innov_var));
_heading_innov = math::constrain(innovation, -gate_limit, gate_limit);
} else {
return;
}
} else {