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ekf2: allow yaw estimator to run when disarmed (if not at rest)

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Daniel Agar
2022-03-25 11:26:27 -04:00
parent 741310bc36
commit f8a33e551c
1 changed files with 3 additions and 1 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+3 -1
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@@ -1802,8 +1802,10 @@ void Ekf::runYawEKFGSF()
}
}
const bool run_yaw_estimator = _control_status.flags.in_air || !_control_status.flags.vehicle_at_rest;
const Vector3f imu_gyro_bias = getGyroBias();
_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
_yawEstimator.update(_imu_sample_delayed, run_yaw_estimator, TAS, imu_gyro_bias);
// basic sanity check on GPS velocity data
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&