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EKF: Don't fuse heading if FW and waiting for mag states to stabilise

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Doing so is a bad idea because bad mag data can drag the yaw angle away from the reset value and lead to rejection of GPS.
This commit is contained in:
Paul Riseborough
2017-11-09 18:48:48 +11:00
parent 279fc836f7
commit c70363c501
1 changed files with 2 additions and 2 deletions
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EKF/control.cpp
+2 -2
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@@ -483,7 +483,7 @@ void Ekf::controlGpsFusion()
do_reset = do_reset || (_time_last_imu - _time_last_pos_fuse > 2 * _params.no_gps_timeout_max);
if (do_reset) {
// use GPS velocity data to cehck and correct yaw angle if a FW vehicle
// use GPS velocity data to check and correct yaw angle if a FW vehicle
if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
// if flying a fixed wing aircraft, do a complete reset that includes yaw
realignYawGPS();
@@ -1296,7 +1296,7 @@ void Ekf::controlMagFusion()
fuseDeclination();
}
if (_flt_mag_align_converging) {
if (_flt_mag_align_converging && !_control_status.flags.fixed_wing) {
_control_status.flags.mag_hdg = true;
fuseHeading();
_control_status.flags.mag_hdg = false;