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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
2024-04-05 22:26:03 -04:00
committed by Daniel Agar
parent dae246d7e2
commit b79d3854e4
3 changed files with 4 additions and 8 deletions
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src/modules/ekf2/EKF/common.h
+2 -3
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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)