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AP_NavEKF3: define Yaw alignment min GPS speed per vehicle

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This commit is contained in:
Randy Mackay 2023-07-03 20:33:46 +09:00
parent 3e68167263
commit ce448c4228
2 changed files with 7 additions and 3 deletions
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7
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -6,6 +6,13 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_DAL/AP_DAL.h> #include <AP_DAL/AP_DAL.h>
// minimum GPS horizontal speed required to use GPS ground course for yaw alignment (m/s)
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define GPS_VEL_YAW_ALIGN_MIN_SPD 5.0F
#else
#define GPS_VEL_YAW_ALIGN_MIN_SPD 1.0F
#endif
/******************************************************** /********************************************************
* RESET FUNCTIONS * * RESET FUNCTIONS *
********************************************************/ ********************************************************/

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -118,9 +118,6 @@
// number of continuous valid GPS velocity samples required to reset yaw // number of continuous valid GPS velocity samples required to reset yaw
#define GPS_VEL_YAW_ALIGN_COUNT_THRESHOLD 5 #define GPS_VEL_YAW_ALIGN_COUNT_THRESHOLD 5
// minimum GPS horizontal speed required to use GPS ground course for yaw alignment (m/s)
#define GPS_VEL_YAW_ALIGN_MIN_SPD 5.0F
// maximum GPs ground course uncertainty allowed for yaw alignment (deg) // maximum GPs ground course uncertainty allowed for yaw alignment (deg)
#define GPS_VEL_YAW_ALIGN_MAX_ANG_ERR 15.0F #define GPS_VEL_YAW_ALIGN_MAX_ANG_ERR 15.0F