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EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4

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Paul Riseborough
2019-10-08 20:08:42 +11:00
committed by Paul Riseborough
parent 4e946d5bcb
commit eae6e8f19c
3 changed files with 20 additions and 12 deletions
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EKF/ekf.h
-1
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@@ -359,7 +359,6 @@ private:
bool _mag_use_inhibit_prev{false}; ///< true when magnetometer use was being inhibited the previous frame
bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetometer inhibit has been active for long enough to require a yaw reset when conditions improve.
float _last_static_yaw{0.0f}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
bool _vehicle_at_rest_prev{false}; ///< true when the vehicle was at rest the previous time the status was checked
bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetometer data has been requested
bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
bool _synthetic_mag_z_active{false}; ///< true if we are generating synthetic magnetometer Z measurements