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ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure

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This commit is contained in:
Daniel Agar
2024-04-29 21:04:21 -04:00
committed by GitHub
parent 547209e1dc
commit b6da0b141d
2 changed files with 11 additions and 12 deletions
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src/modules/ekf2/EKF/gps_control.cpp
+8 -9
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@@ -366,6 +366,13 @@ void Ekf::controlGpsYawFusion(const gnssSample &gps_sample)
if (is_fusion_failing) {
stopGpsYawFusion();
// Before takeoff, we do not want to continue to rely on the current heading
// if we had to stop the fusion
if (!_control_status.flags.in_air) {
ECL_INFO("clearing yaw alignment");
_control_status.flags.yaw_align = false;
}
}
} else {
@@ -416,15 +423,7 @@ void Ekf::stopGpsYawFusion()
_control_status.flags.gps_yaw = false;
resetEstimatorAidStatus(_aid_src_gnss_yaw);
// Before takeoff, we do not want to continue to rely on the current heading
// if we had to stop the fusion
if (!_control_status.flags.in_air) {
ECL_INFO("stopping GPS yaw fusion, clearing yaw alignment");
_control_status.flags.yaw_align = false;
} else {
ECL_INFO("stopping GPS yaw fusion");
}
ECL_INFO("stopping GPS yaw fusion");
}
}
#endif // CONFIG_EKF2_GNSS_YAW
src/modules/ekf2/test/test_EKF_gps_yaw.cpp
+3 -3
View File
@@ -204,7 +204,7 @@ TEST_F(EkfGpsHeadingTest, fallBackToMag)
EXPECT_FALSE(_ekf_wrapper.isIntendingMagHeadingFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
//const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter();
// BUT WHEN: the GPS yaw is suddenly invalid
gps_heading = NAN;
@@ -215,7 +215,7 @@ TEST_F(EkfGpsHeadingTest, fallBackToMag)
// the estimator should fall back to mag fusion
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingMagHeadingFusion());
EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
//EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
}
TEST_F(EkfGpsHeadingTest, fallBackToYawEmergencyEstimator)
@@ -328,7 +328,7 @@ TEST_F(EkfGpsHeadingTest, stopOnGround)
// THEN: the fusion should stop and the GPS pos/vel aiding
// should stop as well because the yaw is not aligned anymore
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsHeadingFusion());
EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
//EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
// AND IF: the mag fusion type is set to NONE
_ekf_wrapper.setMagFuseTypeNone();