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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/ekf.h
+1 -1
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@@ -677,7 +677,7 @@ private:
bool fuseYaw(const float innovation, const float variance, estimator_aid_source1d_s &aid_src_status);
// fuse the yaw angle obtained from a dual antenna GPS unit
void fuseGpsYaw(const gpsSample &gps_sample);
void fuseGpsYaw();
// reset the quaternions states using the yaw angle obtained from a dual antenna GPS unit
// return true if the reset was successful