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EKF: Add simple control logic for magnetic declination constraint

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Paul Riseborough
2016-02-08 14:18:43 +11:00
parent dbb8e12948
commit cdc42c1de0
1 changed files with 7 additions and 0 deletions
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EKF/control.cpp
+7
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@@ -109,6 +109,13 @@ void Ekf::controlFusionModes()
_control_status.flags.mag_3D = false; _control_status.flags.mag_3D = false;
} }
} }
// if we are using 3-axis magnetometer fusion, but without external aiding, then the declination needs to be fused as an observation to prevent long term heading drift
if(_control_status.flags.mag_3D && _control_status.flags.gps) {
_control_status.flags.mag_dec = false;
} else {
_control_status.flags.mag_dec = true;
}
} }
void Ekf::calculateVehicleStatus() void Ekf::calculateVehicleStatus()