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ekf2: relax gnss vel/pos soft start test-ratios (#26625)

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Marco Hauswirth 2026-03-03 22:08:52 +01:00 committed by GitHub
parent 24197831e6
commit defab5114d
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1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp
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@ -160,7 +160,7 @@ void Ekf::controlGnssVelFusion(estimator_aid_source3d_s &aid_src, const bool for
const bool do_reset = force_reset || !_control_status_prev.flags.yaw_align;
// Start fusing the data without reset if possible to avoid disturbing the filter
if (!do_reset && ((aid_src.test_ratio[0] + aid_src.test_ratio[1]) < sq(0.5f))) {
if (!do_reset && aid_src.test_ratio[0] < 1.f && aid_src.test_ratio[1] < 1.f) {
fused = fuseVelocity(aid_src);
}
@ -221,7 +221,7 @@ void Ekf::controlGnssPosFusion(estimator_aid_source2d_s &aid_src, const bool for
// Start fusing the data without reset if possible to avoid disturbing the filter
if (_local_origin_lat_lon.isInitialized()
&& !do_reset
&& ((aid_src.test_ratio[0] + aid_src.test_ratio[1]) < sq(0.5f))) {
&& aid_src.test_ratio[0] < 1.f && aid_src.test_ratio[1] < 1.f) {
fused = fuseHorizontalPosition(aid_src);
}