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EKF: add flt_mag_align_complete to control_status flags

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2019-01-04 14:15:32 +01:00
committed by Lorenz Meier
parent b920910483
commit d223680197
4 changed files with 18 additions and 18 deletions
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EKF/control.cpp
+13 -13
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@@ -1349,7 +1349,7 @@ void Ekf::controlMagFusion()
// Also reset the flight alignment flag so that the mag fields will be re-initialised next time we achieve flight altitude
if (!_control_status.flags.in_air) {
_last_on_ground_posD = _state.pos(2);
_flt_mag_align_complete = false;
_control_status.flags.flt_mag_align_complete = false;
_num_bad_flight_yaw_events = 0;
}
@@ -1359,7 +1359,7 @@ void Ekf::controlMagFusion()
// We need to reset the yaw angle after climbing away from the ground to enable
// recovery from ground level magnetic interference.
if (!_flt_mag_align_complete) {
if (!_control_status.flags.flt_mag_align_complete) {
// Check if height has increased sufficiently to be away from ground magnetic anomalies
// and request a yaw reset if not already requested.
_mag_yaw_reset_req |= (_last_on_ground_posD - _state.pos(2)) > 1.5f;
@@ -1368,7 +1368,7 @@ void Ekf::controlMagFusion()
// perform a yaw reset if requested by other functions
if (_mag_yaw_reset_req) {
if (!_mag_use_inhibit ) {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
}
_mag_yaw_reset_req = false;
}
@@ -1426,16 +1426,16 @@ void Ekf::controlMagFusion()
// decide whether 3-axis magnetomer fusion can be used
bool use_3D_fusion = _control_status.flags.tilt_align && // Use of 3D fusion requires valid tilt estimates
_control_status.flags.in_air && // don't use when on the ground becasue of magnetic anomalies
(_flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
(_control_status.flags.flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
((_imu_sample_delayed.time_us - _time_last_movement) < 2 * 1000 * 1000); // Using 3-axis fusion for a minimum period after to allow for false negatives
// perform switch-over
if (use_3D_fusion) {
if (!_control_status.flags.mag_3D) {
if (!_flt_mag_align_complete) {
if (!_control_status.flags.flt_mag_align_complete) {
// If we are flying a vehicle that flies forward, eg plane, then we can use the GPS course to check and correct the heading
if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
_flt_mag_align_complete = realignYawGPS();
_control_status.flags.flt_mag_align_complete = realignYawGPS();
if (_velpos_reset_request) {
resetVelocity();
@@ -1444,10 +1444,10 @@ void Ekf::controlMagFusion()
}
} else {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
}
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.flt_mag_align_complete;
} else {
// reset the mag field covariances
@@ -1462,7 +1462,7 @@ void Ekf::controlMagFusion()
}
// only use one type of mag fusion at the same time
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_3D = _control_status.flags.flt_mag_align_complete;
_control_status.flags.mag_hdg = !_control_status.flags.mag_3D;
} else {
@@ -1510,13 +1510,13 @@ void Ekf::controlMagFusion()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D || !_flt_mag_align_complete) {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
if (!_control_status.flags.mag_3D || !_control_status.flags.flt_mag_align_complete) {
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.flt_mag_align_complete;
}
// use 3-axis mag fusion if reset was successful
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_3D = _control_status.flags.flt_mag_align_complete;
_control_status.flags.mag_hdg = false;
} else {