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AP_AHRS: attitudes_consistent obeys always_use_EKF

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This commit is contained in:
Randy Mackay 2020-05-11 09:33:00 +09:00
parent 685e412d14
commit 099067dbc9
1 changed files with 22 additions and 14 deletions
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10
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1354,6 +1354,7 @@ bool AP_AHRS_NavEKF::attitudes_consistent(char *failure_msg, const uint8_t failu
get_quat_body_to_ned(primary_quat);
// only check yaw if compasses are being used
bool check_yaw = _compass && _compass->use_for_yaw();
uint8_t total_ekf_cores = 0;
// check primary vs ekf2
for (uint8_t i = 0; i < EKF2.activeCores(); i++) {
@ -1372,6 +1373,7 @@ bool AP_AHRS_NavEKF::attitudes_consistent(char *failure_msg, const uint8_t failu
return false;
}
}
total_ekf_cores = EKF2.activeCores();
// check primary vs ekf3
for (uint8_t i = 0; i < EKF3.activeCores(); i++) {
@ -1390,8 +1392,10 @@ bool AP_AHRS_NavEKF::attitudes_consistent(char *failure_msg, const uint8_t failu
return false;
}
}
total_ekf_cores += EKF3.activeCores();
// check primary vs dcm
// check primary vs dcm if this vehicle could use DCM in flight or only one core is enabled
if (!always_use_EKF() || (total_ekf_cores == 1)) {
Quaternion dcm_quat;
Vector3f angle_diff;
dcm_quat.from_rotation_matrix(get_DCM_rotation_body_to_ned());
@ -1401,11 +1405,15 @@ bool AP_AHRS_NavEKF::attitudes_consistent(char *failure_msg, const uint8_t failu
hal.util->snprintf(failure_msg, failure_msg_len, "DCM Roll/Pitch inconsistent by %d deg", (int)degrees(diff));
return false;
}
if (!always_use_EKF()) {
diff = fabsf(angle_diff.z);
if (check_yaw && (diff > ATTITUDE_CHECK_THRESH_YAW_RAD)) {
hal.util->snprintf(failure_msg, failure_msg_len, "DCM Yaw inconsistent by %d deg", (int)degrees(diff));
return false;
}
}
}
return true;
}