Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 02:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: set a min yaw accuracy from GPS of 5 degrees

Browse Source 
GPS modules tend to be rather optimistic about their yaw accuracy. By
setting a min or 5 degrees we prevent the user constantly getting
warnings about yaw innovations
This commit is contained in:
Andrew Tridgell 2019-09-09 10:32:00 +10:00
parent 0b435559bd
commit f24de4e2bc
1 changed files with 6 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -622,6 +622,12 @@ void NavEKF3_core::readGpsData()
// if the GPS has yaw data then input that as well // if the GPS has yaw data then input that as well
float yaw_deg, yaw_accuracy_deg; float yaw_deg, yaw_accuracy_deg;
if (AP::gps().gps_yaw_deg(yaw_deg, yaw_accuracy_deg)) { if (AP::gps().gps_yaw_deg(yaw_deg, yaw_accuracy_deg)) {
// GPS modules are rather too optimistic about their
// accuracy. Set to min of 5 degrees here to prevent
// the user constantly receiving warnings about high
// normalised yaw innovations
const float min_yaw_accuracy_deg = 5.0f;
yaw_accuracy_deg = MAX(yaw_accuracy_deg, min_yaw_accuracy_deg);
writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2); writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2);
} }