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mag_fusion: re-introduce delay between mag reset and fusion, this was

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dropped during the mag fusion refactor PR #662
This commit is contained in:
bresch 2019-12-19 11:17:41 +01:00 committed by Paul Riseborough
parent 250d5b8acc
commit d0fe1f032a
2 changed files with 3 additions and 2 deletions
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1
EKF/ekf.h
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@ -465,7 +465,6 @@ private:
// Variables used to control activation of post takeoff functionality
float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m)
bool _flt_mag_align_converging{false}; ///< true when the in-flight mag field post alignment convergence is being performd
uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec)
uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
float _saved_mag_bf_variance[4] {}; ///< magnetic field state variances that have been saved for use at the next initialisation (Gauss**2)

4
EKF/mag_fusion.cpp
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@ -170,7 +170,9 @@ void Ekf::fuseMag()
return;
}
bool update_all_states = !_flt_mag_align_converging;
// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
// before they are used to constrain heading drift
const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6);
// update the states and covariance using sequential fusion of the magnetometer components
for (uint8_t index = 0; index <= 2; index++) {