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EKF: Improve detection of indoor flight condition

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This commit is contained in:
Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 565f99254c
commit ea9e8246ed
3 changed files with 9 additions and 4 deletions
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EKF/control.cpp
+3 -3
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@@ -1400,13 +1400,13 @@ void Ekf::controlMagFusion()
_control_status.flags.mag_dec = false;
}
// If optical flow is the only aiding source and GPS checks are failing, then assume that we are operating
// If optical flow is enabled there is no other aiding active and GPS checks are failing, then assume that we are operating
// indoors and the magnetometer is unreliable. Becasue the optical flow sensor is body fixed, absolute yaw
// wrt North is not required for navigation and it is safer not to use the magnetometer.
if ((_control_status.flags.opt_flow || _mag_use_inhibit)
if (((_params.fusion_mode & MASK_USE_OF) || _mag_use_inhibit)
&& !_control_status.flags.gps
&& !_control_status.flags.ev_pos
&& (_time_last_imu - _last_gps_pass_us > (uint64_t)5e6)) {
&& ((_time_last_imu - _last_gps_pass_us > (uint64_t)5e6) || !(_params.fusion_mode & MASK_USE_GPS))) {
_mag_use_inhibit = true;
} else {
_mag_use_inhibit = false;