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ekf2: GNSS yaw, update->fuse pattern

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bresch
2022-11-22 09:59:31 -05:00
committed by Daniel Agar
parent 4cb327fba3
commit b25bc1b982
7 changed files with 63 additions and 108 deletions
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src/modules/ekf2/EKF/control.cpp
+3 -1
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@@ -429,6 +429,8 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
return;
}
updateGpsYaw(gps_sample);
const bool is_new_data_available = PX4_ISFINITE(gps_sample.yaw);
if (is_new_data_available) {
@@ -447,7 +449,7 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
if (continuing_conditions_passing) {
fuseGpsYaw(gps_sample);
fuseGpsYaw();
const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max);