EKF: Improve in-flight mag error detection, recovery and isolation for fixed wing

2026-10-24 01:23:35 +08:00 · 2017-07-31 19:39:07 +10:00
parent c230663b68
commit ce806768b7
4 changed files with 57 additions and 51 deletions
@@ -413,6 +413,7 @@ union filter_control_status_u {
 		uint32_t fuse_beta   : 1; ///< 15 - true when synthetic sideslip measurements are being fused
 		uint32_t update_mag_states_only   : 1; ///< 16 - true when only the magnetometer states are updated by the magnetometer
 		uint32_t fixed_wing  : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
+		uint32_t mag_fault   : 1; ///< 18 - true when the magnetomer has been declared faulty and is no longer being used
 	} flags;
 	uint32_t value;
 };