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AP_NavEKF2: Change assumed gyro calibration accuracy

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If an external gyro calibration has been performed, we should assume that it has been done under static conditions
Otherwise it is pointless and we should allow the EKF to find its own gyro bias offsets.
This commit is contained in:
Paul Riseborough 2015-10-15 10:20:55 +11:00 committed by Andrew Tridgell
parent 67a669fcdc
commit 27393855f1
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
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@ -19,12 +19,15 @@
extern const AP_HAL::HAL& hal;
// reset the body axis gyro bias states to zero and re-initialise the corresponding covariances
// Assume that the calibration is performed to an accuracy of 0.5 deg/sec which will require averaging under static conditions
// WARNING - a non-blocking calibration method must be used
void NavEKF2_core::resetGyroBias(void)
{
stateStruct.gyro_bias.zero();
zeroRows(P,9,11);
zeroCols(P,9,11);
P[9][9] = sq(radians(InitialGyroBiasUncertainty() * dtIMUavg));
P[9][9] = sq(radians(0.5f * dtIMUavg));
P[10][10] = P[9][9];
P[11][11] = P[9][9];
}
@ -38,4 +41,4 @@ float NavEKF2_core::InitialGyroBiasUncertainty(void) const
}
#endif // HAL_CPU_CLASS
#endif // HAL_CPU_CLASS