4 Commits

Include renames

Author	SHA1	Message	Date
Daniel Agar	14a967e2ca	ekf2: remove aid src status fusion_enabled flag	2023-09-26 10:30:16 -04:00
bresch	ebf962bf68	ekf2: remove size in name of state vector and matrix types ... Then the state vector size can be changes without having to update the name	2023-09-21 08:27:52 -04:00
Mathieu Bresciani	74a54b3b12	EKF2: improve resilience against incorrect mag data ... - when GNSS is used require low mag heading innovations during horizontal acceleration (yaw observable) to validate the mag - only fuse mag heading just enough to constrain the yaw estimate variance to a sane value. Leave enough uncertainty to allow for a correction when the yaw is observable through GNSS fusion	2023-08-17 09:55:15 -04:00
Daniel Agarandbresch	d75bb62a65	ekf2: separate mag and mag heading control logic (#21212) ... - split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d) - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion - if WMM available use for mag_I and mag_B init - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc) - mag reset if declination changed (eliminate _mag_yaw_reset_req) - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north) Co-authored-by: bresch <brescianimathieu@gmail.com>	2023-08-04 10:39:16 -04:00