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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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EKF/ekf.cpp
+5 -2
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@@ -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
}
}