fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 09:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Allow reset of yaw to EKF-GSF later in flight

Browse Source
This commit is contained in:
Paul Riseborough
2020-05-22 13:05:10 +03:00
committed by Roman Bapst
parent 600240d95f
commit c91c78dcf6
3 changed files with 39 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/common.h
+2 -1
View File
@@ -367,8 +367,9 @@ struct parameters {
// Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value
float EKFGSF_tas_default{15.0f}; ///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s)
unsigned EKFGSF_reset_delay{1000000}; ///< Number of uSec of bad innovations on main filter inpost takeoff phase before yaw is reset to EKF-GSF value
unsigned EKFGSF_reset_delay{1000000}; ///< Number of uSec of bad innovations on main filter in immediate post-takeoff phase before yaw is reset to EKF-GSF value
float EKFGSF_yaw_err_max{0.262f}; ///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
unsigned EKFGSF_reset_count_limit{3}; ///< Maximum number of times the yaw can be reset to the EKF-GSF yaw estimator value
};
struct stateSample {