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

2026-10-30 05:03:34 +08:00 · 2017-07-31 19:39:07 +10:00
parent c230663b68
commit ce806768b7
4 changed files with 57 additions and 51 deletions
@@ -279,6 +279,7 @@ private:
 	bool _mag_bias_observable{false};	///< true when there is enough rotation to make magnetometer bias errors observable
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	uint64_t _time_yaw_started{0};		///< last system time in usec that a yaw rotation moaneouvre was detected
+	uint8_t _num_bad_flight_yaw_events{0};	///< number of times a bad heading has been detected in flight and required a yaw reset

 	float P[_k_num_states][_k_num_states] {};	///< state covariance matrix