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AP_NavEKF: Reduce EKF start time

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Makes EKF start conditional on DCM solution tilt error
This commit is contained in:
Paul Riseborough 2015-04-22 11:13:49 +10:00 committed by Randy Mackay
parent 5184bca87f
commit 4a5bf0a266
1 changed files with 8 additions and 3 deletions
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11
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -450,8 +450,8 @@ bool NavEKF::healthy(void) const
// extremely unhealthy.
return false;
}
// Give the filter 10 seconds to settle before use
if ((imuSampleTime_ms - ekfStartTime_ms) < 10000) {
// Give the filter a second to settle before use
if ((imuSampleTime_ms - ekfStartTime_ms) < 1000 ) {
return false;
}
// barometer innovations must be within limits when on-ground
@ -537,6 +537,11 @@ bool NavEKF::InitialiseFilterDynamic(void)
return false;
}
// If the DCM solution has not converged, then don't initialise
if (_ahrs->get_error_rp() > 0.02f) {
return false;
}
// Set re-used variables to zero
InitialiseVariables();
@ -4742,7 +4747,7 @@ void NavEKF::performArmingChecks()
{
// determine vehicle arm status and don't allow filter to arm until it has been running for long enough to stabilise
prevVehicleArmed = vehicleArmed;
vehicleArmed = (getVehicleArmStatus() && (imuSampleTime_ms - ekfStartTime_ms) > 10000);
vehicleArmed = (getVehicleArmStatus() && (imuSampleTime_ms - ekfStartTime_ms) > 1000);
// check to see if arm status has changed and reset states if it has
if (vehicleArmed != prevVehicleArmed) {