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EKF: test new derivation

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Use direct attitude parameterisation
Discard scale factors
Add accel bias
This commit is contained in:
Paul Riseborough
2016-05-05 21:23:03 +10:00
parent 22d18d638c
commit fe9f88a8b4
12 changed files with 928 additions and 1498 deletions
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EKF/control.cpp
-12
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@@ -363,7 +363,6 @@ void Ekf::controlFusionModes()
if (!_control_status.flags.armed) {
// use heading fusion for initial startup
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
} else {
@@ -375,13 +374,11 @@ void Ekf::controlFusionModes()
// use 3D mag fusion when airborne
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = true;
} else {
// use heading fusion when on the ground
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
}
}
@@ -389,13 +386,6 @@ void Ekf::controlFusionModes()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_HEADING) {
// always use heading fusion
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_2D) {
// always use 2D mag fusion
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = true;
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
@@ -406,13 +396,11 @@ void Ekf::controlFusionModes()
// always use 3-axis mag fusion
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = true;
} else {
// do no magnetometer fusion at all
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
}