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AP_NavEKF3: Don't update yaw estimator with bad GPS

This commit is contained in:
Paul Riseborough 2020-11-16 10:58:47 +11:00 committed by Andrew Tridgell
parent e5e8d0ba3c
commit db86a5acc8
2 changed files with 5 additions and 5 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -638,7 +638,7 @@ void NavEKF3_core::runYawEstimatorPrediction()
void NavEKF3_core::runYawEstimatorCorrection() void NavEKF3_core::runYawEstimatorCorrection()
{ {
if (yawEstimator != nullptr && frontend->_fusionModeGPS <= 1) { if (yawEstimator != nullptr && frontend->_fusionModeGPS <= 1 && EKFGSF_run_filterbank) {
if (gpsDataToFuse) { if (gpsDataToFuse) {
Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y); Vector2f gpsVelNE = Vector2f(gpsDataDelayed.vel.x, gpsDataDelayed.vel.y);
float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise); float gpsVelAcc = fmaxf(gpsSpdAccuracy, frontend->_gpsHorizVelNoise);

8
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
View File

@ -402,11 +402,11 @@ void NavEKF3_core::detectFlight()
updateTouchdownExpected(); updateTouchdownExpected();
// handle reset of counters used to control how many times we will try to reset the yaw to the EKF-GSF value per flight // handle reset of counters used to control how many times we will try to reset the yaw to the EKF-GSF value per flight
if (!prevOnGround && onGround) { if ((!prevOnGround && onGround) || !gpsAccuracyGood) {
// landed so disable filter bank // disable filter bank
EKFGSF_run_filterbank = false; EKFGSF_run_filterbank = false;
} else if (yawEstimator && !EKFGSF_run_filterbank && ((!prevInFlight && inFlight) || expectTakeoff)) { } else if (yawEstimator != nullptr && !EKFGSF_run_filterbank && (inFlight || expectTakeoff) && gpsAccuracyGood) {
// started flying so reset counters and enable filter bank // flying or about to fly so reset counters and enable filter bank when GPS is good
EKFGSF_yaw_reset_ms = 0; EKFGSF_yaw_reset_ms = 0;
EKFGSF_yaw_reset_request_ms = 0; EKFGSF_yaw_reset_request_ms = 0;
EKFGSF_yaw_reset_count = 0; EKFGSF_yaw_reset_count = 0;