AP_NavEKF: Reduce vulnerability to ground fixed magnetic interference

Re-initialisation of the magnetic field states and yaw angle is now only performed a maximum of two times after start-up.

Once when coming out of static modefor the first time (first arm event)
Again (for copter only) when the altitude gain above the arming altitude exceeds 1.5m

this prevents magnetic interference present at arming (eg arming on a metal roof)from corrupting the magnetic field states enough to cause bad heading errors and toilet bowling on copter

libraries/AP_NavEKF/AP_NavEKF.cpp

@@ -636,8 +636,17 @@ void NavEKF::UpdateFilter()
         ResetPosition();
         ResetHeight();
         StoreStatesReset();
-        calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
+        // only reset the magnetic field and heading on the first arm. This prevents in-flight learning being forgotten for vehicles that do multiple short flights and disarm in-between.
+        if (!staticMode && !firstArmComplete) {
+            firstArmComplete = true;
+            state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
+            firstArmPosD = state.position.z;
+        }
         prevStaticMode = staticMode;
+    } else if (!staticMode && !finalMagYawInit && firstArmPosD - state.position.z > 1.5f && !assume_zero_sideslip()) {
+        // Do a final yaw and earth mag field initialisation when the vehicle has gained 1.5m of altitude after arming if it is a non-fly forward vehicle (vertical takeoff)
+        state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
+        finalMagYawInit = true;
     }
 
     // run the strapdown INS equations every IMU update
@@ -3265,14 +3274,13 @@ Quaternion NavEKF::calcQuatAndFieldStates(float roll, float pitch)
         float magDecAng = use_compass() ? _ahrs->get_compass()->get_declination() : 0;
 
         // calculate yaw angle rel to true north
-        if (!badMag) {
-            // if mag healthy use declination and mag measurements to calculate yaw
         yaw = magDecAng - magHeading;
         yawAligned = true;
-            // calculate initial filter quaternion states
+        // calculate initial filter quaternion states using yaw from magnetometer if mag heading healthy
+        // otherwise use existing heading
+        if (!badMag) {
             initQuat.from_euler(roll, pitch, yaw);
         } else {
-            // if mag failed keep current yaw
             initQuat = state.quat;
         }
 
@@ -3437,10 +3445,13 @@ void NavEKF::ZeroVariables()
     hgtTimeout = false;
     magTimeout = false;
     badMag = false;
+    firstArmComplete = false;
+    finalMagYawInit = false;
     storeIndex = 0;
     dtIMU = 0;
     dt = 0;
     hgtMea = 0;
+    firstArmPosD = 0.0f;
     storeIndex = 0;
     lastGyroBias.zero();
 	prevDelAng.zero();

libraries/AP_NavEKF/AP_NavEKF.h

@@ -474,6 +474,9 @@ private:
     float tasTestRatio;             // sum of squares of true airspeed innovation divided by fail threshold
     bool inhibitWindStates;         // true when wind states and covariances are to remain constant
     bool inhibitMagStates;          // true when magnetic field states and covariances are to remain constant
+    float firstArmPosD;             // vertical position at the first arming (transition from sttatic mode) after start up
+    bool firstArmComplete;          // true when first transition out of static mode has been performed after start up
+    bool finalMagYawInit;           // true when the final post takeoff initialisation of earth field and yaw angle has been performed
 
     // Used by smoothing of state corrections
     float gpsIncrStateDelta[10];    // vector of corrections to attitude, velocity and position to be applied over the period between the current and next GPS measurement