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ekf2: stop gps yaw fusion on numerical error

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Daniel Agar
2024-07-11 12:25:14 -04:00
parent 467f96f2a4
commit d5876ab0d2
1 changed files with 1 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/gnss/gps_yaw_fusion.cpp
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@@ -100,6 +100,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
// we reinitialise the covariance matrix and abort this fusion step
initialiseCovariance();
ECL_ERR("GPS yaw numerical error - covariance reset");
stopGpsYawFusion();
return;
}