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GNSS yaw: use dedicated observation noise

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bresch
2021-08-05 11:10:02 +02:00
committed by Mathieu Bresciani
parent 718e5b5b5d
commit e90e1c7e2a
2 changed files with 5 additions and 2 deletions
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src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+2 -2
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@@ -70,7 +70,7 @@ void Ekf::fuseGpsYaw()
// using magnetic heading process noise
// TODO extend interface to use yaw uncertainty provided by GPS if available
const float R_YAW = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
const float R_YAW = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
// calculate intermediate variables
const float HK0 = sinf(_gps_yaw_offset);
@@ -209,7 +209,7 @@ bool Ekf::resetYawToGps()
// GPS yaw measurement is alreday compensated for antenna offset in the driver
const float measured_yaw = _gps_sample_delayed.yaw;
const float yaw_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
resetQuatStateYaw(measured_yaw, yaw_variance, true);
_time_last_gps_yaw_fuse = _time_last_imu;