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ekf2: separate mag and mag heading control logic (#21212)

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- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
 - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
 - if WMM available use for mag_I and mag_B init
 - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
 - mag reset if declination changed (eliminate _mag_yaw_reset_req)
 - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2023-08-04 10:39:16 -04:00
committed by GitHub
parent 7db667558e
commit d75bb62a65
26 changed files with 1650 additions and 1397 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -471,7 +471,7 @@ void EstimatorInterface::setSystemFlagData(const systemFlagUpdate &system_flags)
_system_flag_buffer->push(system_flags_new);
} else {
ECL_WARN("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
ECL_DEBUG("system flag update too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _system_flag_buffer->get_newest().time_us, _min_obs_interval_us);
}
}