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EKF: Prevent unwanted declination fusion when re-starting 3-axis fusion

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This commit is contained in:
Paul Riseborough
2019-01-31 09:53:57 -05:00
committed by Daniel Agar
parent bd1647a7fb
commit fe378fd761
2 changed files with 1 additions and 2 deletions
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EKF/control.cpp
+1 -1
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@@ -1608,7 +1608,7 @@ void Ekf::controlMagFusion()
_mag_decl_cov_reset = true; _mag_decl_cov_reset = true;
fuseMag(); fuseMag();
} else { } else {
// The normal sequence is to fuse the magnetmer data first before fusing // The normal sequence is to fuse the magnetometer data first before fusing
// declination angle at a higher uncertainty to allow some learning of // declination angle at a higher uncertainty to allow some learning of
// declination angle over time. // declination angle over time.
fuseMag(); fuseMag();
EKF/covariance.cpp
-1
View File
@@ -847,7 +847,6 @@ void Ekf::fixCovarianceErrors()
if (!_control_status.flags.mag_3D) { if (!_control_status.flags.mag_3D) {
zeroRows(P, 16, 21); zeroRows(P, 16, 21);
zeroCols(P, 16, 21); zeroCols(P, 16, 21);
_mag_decl_cov_reset = false;
} else { } else {
// constrain variances // constrain variances