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AP_NavEKF: Add new compass learning option

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Enables compass learning to be on continuously for non-position hold operation
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Paul Riseborough 2015-03-12 18:12:08 -07:00 committed by Andrew Tridgell
parent 961faa59d9
commit 98fa918b84
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -290,7 +290,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Param: MAG_CAL
// @DisplayName: Magnetometer calibration mode
// @Description: EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.
// @Values: 0:Speed and Height,1:Acceleration,2:Never
// @Values: 0:Speed and Height,1:Acceleration,2:Never,3:Always
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, MAG_CAL_DEFAULT),
@ -3778,9 +3778,9 @@ void NavEKF::SetFlightAndFusionModes()
// If we are on ground, or in constant position mode, or don't have the right vehicle and sensing to estimate wind, inhibit wind states
inhibitWindStates = ((!useAirspeed() && !assume_zero_sideslip()) || onGround || constPosMode);
// request mag calibration for both in-air and manoeuvre threshold options
bool magCalRequested = ((_magCal == 0) && !onGround) || ((_magCal == 1) && manoeuvring);
bool magCalRequested = ((_magCal == 0) && !onGround) || ((_magCal == 1) && manoeuvring) || (_magCal == 3);
// deny mag calibration request if we aren't using the compass, are in the pre-arm constant position mode or it has been inhibited by the user
bool magCalDenied = (!use_compass() || constPosMode || (_magCal == 2));
bool magCalDenied = !use_compass() || constPosMode || (_magCal == 2);
// inhibit the magnetic field calibration if not requested or denied
inhibitMagStates = (!magCalRequested || magCalDenied);
}