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AP_NavEKF3: Ensure yaw fusion commences when starting from rest

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This commit is contained in:
Paul Riseborough 2020-04-09 11:10:51 +10:00 committed by Andrew Tridgell
parent a3725e2581
commit 33ab1a7b15
2 changed files with 15 additions and 11 deletions
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24
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -278,20 +278,24 @@ void NavEKF3_core::SelectMagFusion()
last_gps_yaw_fusion_ms = now; last_gps_yaw_fusion_ms = now;
} else if (tiltAlignComplete && !yawAlignComplete && (imuSampleTime_ms > lastSynthYawTime_ms + 140)) { } else if (tiltAlignComplete && !yawAlignComplete && (imuSampleTime_ms > lastSynthYawTime_ms + 140)) {
yawAngDataDelayed.yawAngErr = MAX(frontend->_yawNoise, 0.05f); yawAngDataDelayed.yawAngErr = MAX(frontend->_yawNoise, 0.05f);
// update the yaw angle using the last estimate which will be used as a static yaw reference when movement stops
if (fabsf(prevTnb[0][2]) < fabsf(prevTnb[1][2])) {
// A 321 rotation order is best conditioned because the X axis is closer to horizontal than the Y axis
if (!onGroundNotMoving) {
yawAngDataDelayed.yawAng = atan2f(prevTnb[0][1], prevTnb[0][0]);
}
yawAngDataDelayed.type = 2;
} else {
// A 312 rotation order is best conditioned because the Y axis is closer to horizontal than the X axis
if (!onGroundNotMoving) {
yawAngDataDelayed.yawAng = atan2f(-prevTnb[0][1], prevTnb[1][1]);
}
yawAngDataDelayed.type = 1;
}
if (onGroundNotMoving) { if (onGroundNotMoving) {
// fuse last known good yaw angle before we stopped moving to allow yaw bias learning when on ground before flight // fuse last known good yaw angle before we stopped moving to allow yaw bias learning when on ground before flight
fuseEulerYaw(false, true); fuseEulerYaw(false, true);
} else { } else {
// update the yaw angle using the last estimate which will be used as a static yaw reference when movement stops
if (fabsf(prevTnb[0][2]) < fabsf(prevTnb[1][2])) {
// A 321 rotation order is best conditioned because the X axis is closer to horizontal than the Y axis
yawAngDataDelayed.yawAng = atan2f(prevTnb[0][1], prevTnb[0][0]);
yawAngDataDelayed.type = 2;
} else {
// A 312 rotation order is best conditioned because the Y axis is closer to horizontal than the X axis
yawAngDataDelayed.yawAng = atan2f(-prevTnb[0][1], prevTnb[1][1]);
yawAngDataDelayed.type = 1;
}
// prevent uncontrolled yaw variance growth by fusing a zero innovation // prevent uncontrolled yaw variance growth by fusing a zero innovation
fuseEulerYaw(true, true); fuseEulerYaw(true, true);
} }

2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -177,7 +177,7 @@ void NavEKF3_core::InitialiseVariables()
lastPosPassTime_ms = 0; lastPosPassTime_ms = 0;
lastHgtPassTime_ms = 0; lastHgtPassTime_ms = 0;
lastTasPassTime_ms = 0; lastTasPassTime_ms = 0;
lastSynthYawTime_ms = imuSampleTime_ms; lastSynthYawTime_ms = 0;
lastTimeGpsReceived_ms = 0; lastTimeGpsReceived_ms = 0;
secondLastGpsTime_ms = 0; secondLastGpsTime_ms = 0;
lastDecayTime_ms = imuSampleTime_ms; lastDecayTime_ms = imuSampleTime_ms;