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integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong)

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Daniel Agar 2024-04-30 10:12:58 -04:00 committed by Mathieu Bresciani
parent 5173830718
commit bb5dfc7d51
2 changed files with 2 additions and 2 deletions
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2
integrationtests/python_src/px4_it/mavros/mission_test.py
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@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
self.assertTrue(res['pitch_error_std'] < 5.0, str(res))
# TODO: fix by excluding initial heading init and reset preflight
self.assertTrue(res['yaw_error_std'] < 10.0, str(res))
self.assertTrue(res['yaw_error_std'] < 13.0, str(res))
if __name__ == '__main__':

2
src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
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@ -150,7 +150,7 @@ void Ekf::controlMagFusion()
const bool starting_conditions_passing = continuing_conditions_passing
&& checkMagField(mag_sample.mag)
&& (_mag_counter > 5) // wait until we have more than a few samples through the filter
&& (_mag_counter > 3) // wait until we have more than a few samples through the filter
&& (_control_status.flags.yaw_align == _control_status_prev.flags.yaw_align) // no yaw alignment change this frame
&& (_state_reset_status.reset_count.quat == _state_reset_count_prev.quat) // don't allow starting on same frame as yaw reset
&& isNewestSampleRecent(_time_last_mag_buffer_push, MAG_MAX_INTERVAL);