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Extended GPS loss can result in the earth field states becoming rotated and making it difficult for the EKF to recover its heading when GPS is regained. During prolonged GPS outages, the position covariance can become large enough to cause the reset function to continually activate. This is fixed by ensuring that position covariances are always reset when the position is reset. The innovation variance was being used incorrectly instead of the state variance to trigger the glitch reset. |
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| .. | ||
| AP_NavEKF2_AirDataFusion.cpp | ||
| AP_NavEKF2_Control.cpp | ||
| AP_NavEKF2_core.cpp | ||
| AP_NavEKF2_core.h | ||
| AP_NavEKF2_MagFusion.cpp | ||
| AP_NavEKF2_Measurements.cpp | ||
| AP_NavEKF2_OptFlowFusion.cpp | ||
| AP_NavEKF2_Outputs.cpp | ||
| AP_NavEKF2_PosVelFusion.cpp | ||
| AP_NavEKF2_VehicleStatus.cpp | ||
| AP_NavEKF2.cpp | ||
| AP_NavEKF2.h | ||
| AP_NavEKF_GyroBias.cpp | ||