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AP_NavEKF2: Adjust attitude variance values used after a heading reset

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Because these errors are in body frame, a spherical error should be used to accommodate different orientations
This commit is contained in:
Paul Riseborough 2016-05-21 11:37:57 +10:00 committed by Andrew Tridgell
parent 5ec8d523f6
commit 581c1aa0d4
1 changed files with 1 additions and 2 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -108,8 +108,7 @@ void NavEKF2_core::realignYawGPS()
zeroRows(P,0,2); zeroRows(P,0,2);
// Set the initial attitude error covariances // Set the initial attitude error covariances
P[1][1] = P[0][0] = sq(radians(5.0f)); P[2][2] = P[1][1] = P[0][0] = sq(radians(5.0f));
P[2][2] = sq(radians(45.0f));
// reset tposition fusion timer to cause the states to be reset to the GPS on the next GPS fusion cycle // reset tposition fusion timer to cause the states to be reset to the GPS on the next GPS fusion cycle
lastPosPassTime_ms = 0; lastPosPassTime_ms = 0;