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ekf2: mag field disturbed only care about NE for heading

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- mag_field_disturbed look at full mag field strength (after mag bias applied)
 - mag_field_ne_disturbed (NEW) only consider north east component of
mag field (what's actually used for mag heading)
This commit is contained in:
Daniel Agar
2022-11-07 10:53:21 -05:00
parent 4190353192
commit be453c098f
4 changed files with 41 additions and 18 deletions
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msg/EstimatorStatusFlags.msg
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@@ -38,6 +38,7 @@ bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on win
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
bool cs_mag_field_ne_disturbed # 34 - true when the NE mag field does not match the expected strength
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes