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EKF: Split tilt and yaw align

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This commit is contained in:
Paul Riseborough 2016-02-12 14:28:40 +11:00 committed by Roman
parent 020cc5978e
commit c089079321
2 changed files with 7 additions and 4 deletions
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4
EKF/control.cpp
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@ -53,9 +53,9 @@ void Ekf::controlFusionModes()
_control_status.flags.opt_flow = false;
// GPS fusion mode selection logic
// To start use GPS we need angular alignment completed, the local NED origin set and fresh GPS data
// To start using GPS we need tilt and yaw alignment completed, the local NED origin set and fresh GPS data
if (!_control_status.flags.gps) {
if (_control_status.flags.angle_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
if (_control_status.flags.tilt_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
&& (_time_last_imu - _last_gps_fail_us > 5e6)) {
_control_status.flags.gps = true;
resetPosition();

7
EKF/ekf.cpp
View File

@ -143,15 +143,18 @@ bool Ekf::update()
// Fuse magnetometer data using the selected fuson method and only if angular alignment is complete
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
if (_control_status.flags.mag_3D && _control_status.flags.angle_align) {
if (_control_status.flags.mag_3D && _control_status.flags.yaw_align) {
fuseMag();
if (_control_status.flags.mag_dec) {
fuseDeclination();
}
} else if (_control_status.flags.mag_hdg && _control_status.flags.angle_align) {
} else if (_control_status.flags.mag_hdg && _control_status.flags.yaw_align) {
fuseHeading();
} else {
// do no fusion at all
}
}