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AP_NavEKF2: Reset yaw estimator bias states at start of flight

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Enables yaw bias to be learned when sitting stationary on ground.
This commit is contained in:
Paul Riseborough 2020-06-08 08:43:42 +10:00 committed by Peter Barker
parent 5ad5498b07
commit ea4589ea94
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -406,6 +406,9 @@ void NavEKF2_core::detectFlight()
EKFGSF_yaw_reset_request_ms = 0; EKFGSF_yaw_reset_request_ms = 0;
EKFGSF_yaw_reset_count = 0; EKFGSF_yaw_reset_count = 0;
EKFGSF_run_filterbank = true; EKFGSF_run_filterbank = true;
Vector3f gyroBias;
getGyroBias(gyroBias);
yawEstimator->setGyroBias(gyroBias);
} }
// store current on-ground and in-air status for next time // store current on-ground and in-air status for next time