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AP_NavEKF3: Update documentation

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Paul Riseborough 2020-10-24 20:02:52 +11:00 committed by Andrew Tridgell
parent 6c7820dd8d
commit 64a3d8fe4e
2 changed files with 4 additions and 2 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -408,7 +408,7 @@ void NavEKF3_core::setAidingMode()
void NavEKF3_core::checkAttitudeAlignmentStatus()
{
// Check for tilt convergence - used during initial alignment
// Once the tilt variances have reduced to equivalent of 3deg uncertainty, re-set the yaw and magnetic field states
// Once the tilt variances have reduced, re-set the yaw and magnetic field states
// and declare the tilt alignment complete
if (!tiltAlignComplete) {
if (tiltErrorVariance < sq(radians(5.0f))) {

4
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1043,7 +1043,9 @@ void NavEKF3_core::CovariancePrediction(Vector3f *rotVarVecPtr)
P[16][16] = sq(frontend->_magNoise);
P[17][17] = P[16][16];
P[18][18] = P[16][16];
FuseDeclination(0.34f);
// Fusing the declinaton angle as an observaton with a 20 deg uncertainty helps
// to stabilise the earth field.
FuseDeclination(radians(20.0f));
}
if (!inhibitMagStates) {