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AP_NavEKF3: Fix bug preventing learning of XY IMU dvel bias in flight

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Paul Riseborough 2021-07-13 21:29:38 +10:00 committed by Randy Mackay
parent aa13e86ac9
commit 827d871c85
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1143,7 +1143,7 @@ void NavEKF3_core::CovariancePrediction(Vector3F *rotVarVecPtr)
const uint8_t index = stateIndex - 13; const uint8_t index = stateIndex - 13;
// Don't attempt learning of IMU delta velocty bias if on ground and not aligned with the gravity vector // Don't attempt learning of IMU delta velocty bias if on ground and not aligned with the gravity vector
const bool is_bias_observable = (fabsF(prevTnb[index][2]) > 0.8f) && onGround; const bool is_bias_observable = (fabsF(prevTnb[index][2]) > 0.8f) || !onGround;
if (!is_bias_observable && !dvelBiasAxisInhibit[index]) { if (!is_bias_observable && !dvelBiasAxisInhibit[index]) {
// store variances to be reinstated wben learning can commence later // store variances to be reinstated wben learning can commence later