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AP_NavEKF2: Make magnetometer data available status global 

This assists with debugging and makes it consistent with other measurements that are buffered
This commit is contained in:
Paul Riseborough 2015-11-12 19:10:09 +11:00 committed by Andrew Tridgell
parent 04228e0b3b
commit d820a538d5
2 changed files with 4 additions and 3 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -139,16 +139,16 @@ void NavEKF2_core::SelectMagFusion()
}
// check for availability of magnetometer data to fuse
bool newMagDataAvailable = RecallMag();
magDataToFuse = RecallMag();
if (newMagDataAvailable) {
if (magDataToFuse) {
// Control reset of yaw and magnetic field states
controlMagYawReset();
}
// determine if conditions are right to start a new fusion cycle
// wait until the EKF time horizon catches up with the measurement
bool dataReady = (newMagDataAvailable && statesInitialised && use_compass() && yawAlignComplete);
bool dataReady = (magDataToFuse && statesInitialised && use_compass() && yawAlignComplete);
if (dataReady) {
// If we haven't performed the first airborne magnetic field update or have inhibited magnetic field learning, then we use the simple method of declination to maintain heading
if(inhibitMagStates) {

1
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -864,6 +864,7 @@ private:
bool rangeDataToFuse; // true when valid range finder height data has arrived at the fusion time horizon.
bool baroDataToFuse; // true when valid baro height finder data has arrived at the fusion time horizon.
bool gpsDataToFuse; // true when valid GPS data has arrived at the fusion time horizon.
bool magDataToFuse; // true when valid magnetometer data has arrived at the fusion time horizon
Vector2f heldVelNE; // velocity held when no aiding is available
enum AidingMode {AID_ABSOLUTE=0, // GPS aiding is being used (optical flow may also be used) so position estimates are absolute.
AID_NONE=1, // no aiding is being used so only attitude and height estimates are available. Either constVelMode or constPosMode must be used to constrain tilt drift.