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ekf2: remove option to continuously fuse mag declination

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Declination fusion is only used when not observable (no global aiding).
This commit is contained in:
bresch 2024-04-02 11:01:16 +02:00 committed by Daniel Agar
parent dae246d7e2
commit b79d3854e4
3 changed files with 4 additions and 8 deletions
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5
src/modules/ekf2/EKF/common.h
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@ -95,8 +95,7 @@ enum class VelocityFrame : uint8_t {
enum GeoDeclinationMask : uint8_t {
// Bit locations for mag_declination_source
USE_GEO_DECL = (1<<0), ///< set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value
SAVE_GEO_DECL = (1<<1), ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library
FUSE_DECL = (1<<2) ///< set to true if the declination is always fused as an observation to constrain drift when 3-axis fusion is performed
SAVE_GEO_DECL = (1<<1) ///< set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library
};
enum MagFuseType : uint8_t {
@ -361,7 +360,7 @@ struct parameters {
float mag_noise{5.0e-2f}; ///< measurement noise used for 3-axis magnetometer fusion (Gauss)
float mag_declination_deg{0.0f}; ///< magnetic declination (degrees)
float mag_innov_gate{3.0f}; ///< magnetometer fusion innovation consistency gate size (STD)
int32_t mag_declination_source{7}; ///< bitmask used to control the handling of declination data
int32_t mag_declination_source{3}; ///< bitmask used to control the handling of declination data
int32_t mag_fusion_type{0}; ///< integer used to specify the type of magnetometer fusion used
float mag_acc_gate{0.5f}; ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2)

3
src/modules/ekf2/EKF/mag_3d_control.cpp
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@ -91,9 +91,8 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
// if we are using 3-axis magnetometer fusion, but without external NE aiding,
// then the declination must be fused as an observation to prevent long term heading drift
// fusing declination when gps aiding is available is optional.
const bool mag_decl_user_selected = (_params.mag_declination_source & GeoDeclinationMask::FUSE_DECL);
const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
_control_status.flags.mag_dec = (_control_status.flags.mag && ((not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight) || mag_decl_user_selected));
_control_status.flags.mag_dec = (_control_status.flags.mag && (not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight));
if (_control_status.flags.mag) {
aid_src.timestamp_sample = mag_sample.time_us;

4
src/modules/ekf2/ekf2_params.c
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@ -474,14 +474,12 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
* Set bits in the following positions to enable functions.
* 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value.
* 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.
* 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.
*
* @group EKF2
* @min 0
* @max 7
* @max 3
* @bit 0 use geo_lookup declination
* @bit 1 save EKF2_MAG_DECL on disarm
* @bit 2 use declination as an observation
* @reboot_required true
*/
PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 3);