bresch
3dac9af09e
ekf2-mag: do not reset on WMM change when NE aiding is active
...
The mag field states are observed. No need to reset them.
2024-05-31 10:38:17 -04:00
bresch
ee765e7859
ekf2-mag: do not reset when NE aiding is active
2024-05-31 10:38:17 -04:00
bresch
774b6ed3b8
ekf2-mag: do not use yaw emergency estimator to reset mag states
...
On slowly moving vehicles (e.g.: boats, rovers), the yaw estimator has
worse convergence than the main EKF. Resetting the mag states using the
yaw estimator as reference can lead to poor heading. Also, the EKF can
recover really well from initially incorrect mag states.
2024-05-31 10:38:17 -04:00
bresch
c3d984703c
ekf2-mag: remove immediate declination fusion after reset
2024-05-31 10:38:17 -04:00
bresch
ea39032b45
mag_ctrl: combine common conditions for mag_hdg and mag_3d
2024-05-17 11:19:04 +02:00
bresch
d796009302
mag_ctrl: do not fuse synthetic mag but do not zero the innovation
2024-05-17 11:19:04 +02:00
Daniel Agar
bb5dfc7d51
integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong)
2024-05-17 11:19:04 +02:00
Daniel Agar
5173830718
ekf2: mag fusion don't update all states or tilt by default
...
- cleanup some of the legacy mag flags
2024-05-17 11:19:04 +02:00
Daniel Agar
bfc39cf341
ekf2: mag control always populate estimator aid src
2024-05-17 11:19:04 +02:00
Daniel Agar
95ae5a657d
ekf2: merge mag_3d_control + mag_control
2024-05-17 11:19:04 +02:00
Daniel Agar
b8d46e60a5
ekf2: move mag fusion to aid_sources/magnetometer
2024-05-02 17:40:58 -04:00
bresch