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EKF: Add a fixed wing mode with setter function

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This commit is contained in:
Paul Riseborough
2017-07-08 11:13:40 +02:00
committed by Lorenz Meier
parent f064915889
commit d446f66105
3 changed files with 9 additions and 7 deletions
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EKF/control.cpp
+5 -7
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@@ -1050,14 +1050,12 @@ void Ekf::controlMagFusion()
if (!_control_status.flags.mag_3D) {
if (!_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 we are doing wind estimation and using the zero sideslip assumotion, then it is reasonable to assume the plane is flying forward
bool zeroSideslipValid = _control_status.flags.fuse_beta;
if (zeroSideslipValid) {
_flt_mag_align_complete = _control_status.flags.yaw_align = realignYawGPS();
if (_control_status.flags.fixed_wing) {
_control_status.flags.yaw_align = realignYawGPS();
_flt_mag_align_complete = _control_status.flags.yaw_align;
} else {
_flt_mag_align_complete = _control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
_flt_mag_align_complete = _control_status.flags.yaw_align;
}
} else {
// reset the mag field covariances